2021-08-12T22:18:31.907Z,1628806711.907 [Supervisor](DEBUG): Initializing supervisor.
2021-08-12T22:18:31.912Z,1628806711.912 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-12T22:18:31.912Z,1628806711.912 [SyncHandler](INFO): Protected caller Thread ID is 3499
2021-08-12T22:18:31.913Z,1628806711.913 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-12T22:18:31.914Z,1628806711.914 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-12T22:18:31.914Z,1628806711.914 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3500
2021-08-12T22:18:31.919Z,1628806711.919 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-12T22:18:31.940Z,1628806711.940 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-12T22:18:31.941Z,1628806711.941 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-12T22:18:31.942Z,1628806711.942 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3501
2021-08-12T22:18:31.944Z,1628806711.944 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-12T22:18:31.945Z,1628806711.945 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-12T22:18:31.946Z,1628806711.946 [logger ThreadHandler](INFO): Protected caller Thread ID is 3502
2021-08-12T22:18:31.950Z,1628806711.950 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-12T22:18:31.950Z,1628806711.950 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-12T22:18:31.952Z,1628806711.952 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-12T22:18:32.387Z,1628806712.387 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-12T22:18:32.388Z,1628806712.388 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-12T22:18:32.468Z,1628806712.468 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-12T22:18:32.817Z,1628806712.817 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-12T22:18:32.817Z,1628806712.817 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-12T22:18:32.928Z,1628806712.928 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-12T22:18:32.929Z,1628806712.929 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-12T22:18:33.138Z,1628806713.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-12T22:18:33.138Z,1628806713.138 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-12T22:18:33.679Z,1628806713.679 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-12T22:18:33.680Z,1628806713.680 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-12T22:18:33.930Z,1628806713.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-12T22:18:33.931Z,1628806713.931 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-12T22:18:34.091Z,1628806714.091 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-12T22:18:34.092Z,1628806714.092 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-12T22:18:34.295Z,1628806714.295 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-12T22:18:34.296Z,1628806714.296 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-12T22:18:34.396Z,1628806714.396 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-12T22:18:34.396Z,1628806714.396 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-12T22:18:34.633Z,1628806714.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-12T22:18:34.633Z,1628806714.633 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-12T22:18:35.034Z,1628806715.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-12T22:18:35.035Z,1628806715.035 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-12T22:18:35.117Z,1628806715.117 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-12T22:18:35.248Z,1628806715.248 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-12T22:18:35.249Z,1628806715.249 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-12T22:18:35.939Z,1628806715.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-12T22:18:35.940Z,1628806715.940 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-12T22:18:36.354Z,1628806716.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-12T22:18:36.356Z,1628806716.356 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-08-12T22:18:36.357Z,1628806716.357 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-08-12T22:18:37.280Z,1628806717.280 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-08-12T22:18:37.384Z,1628806717.384 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-08-12T22:18:37.486Z,1628806717.486 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-08-12T22:18:37.589Z,1628806717.589 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-08-12T22:18:37.855Z,1628806717.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-12T22:18:37.856Z,1628806717.856 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-08-12T22:18:37.943Z,1628806717.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-08-12T22:18:38.042Z,1628806718.042 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-08-12T22:18:38.171Z,1628806718.171 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-08-12T22:18:38.288Z,1628806718.288 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-08-12T22:18:38.376Z,1628806718.376 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-08-12T22:18:38.464Z,1628806718.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-08-12T22:18:38.577Z,1628806718.577 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-08-12T22:18:38.679Z,1628806718.679 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-08-12T22:18:38.886Z,1628806718.886 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-08-12T22:18:39.058Z,1628806719.058 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-12T22:18:39.068Z,1628806719.068 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-12T22:18:39.499Z,1628806719.499 [AHRS_M2] Loaded
2021-08-12T22:18:39.499Z,1628806719.499 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-12T22:18:39.530Z,1628806719.530 [BackseatComponent] Loaded
2021-08-12T22:18:39.530Z,1628806719.530 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-12T22:18:39.531Z,1628806719.531 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2021-08-12T22:18:39.532Z,1628806719.532 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 3596
2021-08-12T22:18:39.534Z,1628806719.534 [LcmUniversalReporter] Loaded
2021-08-12T22:18:39.535Z,1628806719.535 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-12T22:18:40.318Z,1628806720.318 [BPC1] Loaded
2021-08-12T22:18:40.318Z,1628806720.318 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-12T22:18:40.391Z,1628806720.391 [DataOverHttps] Loaded
2021-08-12T22:18:40.392Z,1628806720.392 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-12T22:18:40.393Z,1628806720.393 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-12T22:18:40.393Z,1628806720.393 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 3597
2021-08-12T22:18:40.415Z,1628806720.415 [DDM] Loaded
2021-08-12T22:18:40.416Z,1628806720.416 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-08-12T22:18:40.435Z,1628806720.435 [Depth_Keller] Loaded
2021-08-12T22:18:40.435Z,1628806720.435 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-12T22:18:40.440Z,1628806720.440 [DropWeight] Loaded
2021-08-12T22:18:40.440Z,1628806720.440 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-08-12T22:18:40.486Z,1628806720.486 [DUSBL_Hydroid] Loaded
2021-08-12T22:18:40.486Z,1628806720.486 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-08-12T22:18:40.523Z,1628806720.523 [Micromodem] Loaded
2021-08-12T22:18:40.524Z,1628806720.524 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-08-12T22:18:40.584Z,1628806720.584 [NAL9602] Loaded
2021-08-12T22:18:40.584Z,1628806720.584 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-12T22:18:40.613Z,1628806720.613 [Onboard] Loaded
2021-08-12T22:18:40.613Z,1628806720.613 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-12T22:18:40.614Z,1628806720.614 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407FA4E0
2021-08-12T22:18:40.615Z,1628806720.615 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 3598
2021-08-12T22:18:40.622Z,1628806720.622 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-08-12T22:18:40.633Z,1628806720.633 [PowerOnly] Loaded
2021-08-12T22:18:40.633Z,1628806720.633 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-08-12T22:18:40.645Z,1628806720.645 [Power24vConverter] Loaded
2021-08-12T22:18:40.645Z,1628806720.645 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-12T22:18:40.660Z,1628806720.660 [Radio_Surface] Loaded
2021-08-12T22:18:40.660Z,1628806720.660 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-12T22:18:40.661Z,1628806720.661 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4082A4E0
2021-08-12T22:18:40.661Z,1628806720.661 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3599
2021-08-12T22:18:40.706Z,1628806720.706 [RDI_Pathfinder] Loaded
2021-08-12T22:18:40.706Z,1628806720.706 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-08-12T22:18:40.733Z,1628806720.733 [RDI_PathfinderUp] Loaded
2021-08-12T22:18:40.734Z,1628806720.734 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-08-12T22:18:40.734Z,1628806720.734 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-12T22:18:40.735Z,1628806720.735 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-12T22:18:40.746Z,1628806720.746 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-12T22:18:40.747Z,1628806720.747 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-12T22:18:40.834Z,1628806720.834 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-12T22:18:40.834Z,1628806720.834 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-12T22:18:40.848Z,1628806720.848 [NavChart] Loaded
2021-08-12T22:18:40.848Z,1628806720.848 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-12T22:18:40.854Z,1628806720.854 [UniversalFixResidualReporter] Loaded
2021-08-12T22:18:40.855Z,1628806720.855 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-12T22:18:40.865Z,1628806720.865 [WorkSite] Loaded
2021-08-12T22:18:40.866Z,1628806720.866 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-08-12T22:18:40.866Z,1628806720.866 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-12T22:18:40.867Z,1628806720.867 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-12T22:18:40.972Z,1628806720.972 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-12T22:18:40.973Z,1628806720.973 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-12T22:18:41.193Z,1628806721.193 [BuoyancyServo] Loaded
2021-08-12T22:18:41.193Z,1628806721.193 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-12T22:18:41.248Z,1628806721.248 [ElevatorServo] Loaded
2021-08-12T22:18:41.249Z,1628806721.249 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-12T22:18:41.271Z,1628806721.271 [MassServo] Loaded
2021-08-12T22:18:41.271Z,1628806721.271 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-12T22:18:41.292Z,1628806721.292 [RudderServo] Loaded
2021-08-12T22:18:41.293Z,1628806721.293 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-12T22:18:41.312Z,1628806721.312 [ThrusterServo] Loaded
2021-08-12T22:18:41.313Z,1628806721.313 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-12T22:18:41.313Z,1628806721.313 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-12T22:18:41.314Z,1628806721.314 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-12T22:18:41.505Z,1628806721.505 [CTD_Seabird] Loaded
2021-08-12T22:18:41.505Z,1628806721.505 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-12T22:18:41.506Z,1628806721.506 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409544E0
2021-08-12T22:18:41.507Z,1628806721.507 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3600
2021-08-12T22:18:41.542Z,1628806721.542 [WetLabsSeaOWL_UV_A] Loaded
2021-08-12T22:18:41.542Z,1628806721.542 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-08-12T22:18:41.543Z,1628806721.543 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409844E0
2021-08-12T22:18:41.543Z,1628806721.543 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 3601
2021-08-12T22:18:41.544Z,1628806721.544 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-12T22:18:41.545Z,1628806721.545 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-12T22:18:42.652Z,1628806722.652 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-12T22:18:42.652Z,1628806722.652 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-12T22:18:42.703Z,1628806722.703 [DepthRateCalculator] Loaded
2021-08-12T22:18:42.704Z,1628806722.704 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-12T22:18:42.709Z,1628806722.709 [PitchRateCalculator] Loaded
2021-08-12T22:18:42.709Z,1628806722.709 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-12T22:18:42.719Z,1628806722.719 [SpeedCalculator] Loaded
2021-08-12T22:18:42.719Z,1628806722.719 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-12T22:18:42.733Z,1628806722.733 [TempGradientCalculator] Loaded
2021-08-12T22:18:42.734Z,1628806722.734 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-12T22:18:42.739Z,1628806722.739 [YawRateCalculator] Loaded
2021-08-12T22:18:42.739Z,1628806722.739 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-12T22:18:42.762Z,1628806722.762 [ElevatorOffsetCalculator] Loaded
2021-08-12T22:18:42.762Z,1628806722.762 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-12T22:18:42.763Z,1628806722.763 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-12T22:18:42.763Z,1628806722.763 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-12T22:18:42.923Z,1628806722.923 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-12T22:18:42.936Z,1628806722.936 [SBIT] Loaded
2021-08-12T22:18:42.937Z,1628806722.937 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-12T22:18:42.939Z,1628806722.939 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-12T22:18:42.953Z,1628806722.953 [IBIT] Loaded
2021-08-12T22:18:42.954Z,1628806722.954 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-12T22:18:42.960Z,1628806722.960 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-12T22:18:43.066Z,1628806723.066 [CBIT] Loaded
2021-08-12T22:18:43.067Z,1628806723.067 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-12T22:18:43.067Z,1628806723.067 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-12T22:18:43.068Z,1628806723.068 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-12T22:18:43.133Z,1628806723.133 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-12T22:18:43.133Z,1628806723.133 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-12T22:18:43.249Z,1628806723.249 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-12T22:18:43.249Z,1628806723.249 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-12T22:18:43.311Z,1628806723.311 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-12T22:18:43.369Z,1628806723.369 [VerticalControl] Loaded
2021-08-12T22:18:43.369Z,1628806723.369 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-12T22:18:43.372Z,1628806723.372 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-12T22:18:43.410Z,1628806723.410 [HorizontalControl] Loaded
2021-08-12T22:18:43.410Z,1628806723.410 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-12T22:18:43.413Z,1628806723.413 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-12T22:18:43.415Z,1628806723.415 [SpeedControl] Loaded
2021-08-12T22:18:43.415Z,1628806723.415 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-12T22:18:43.418Z,1628806723.418 [LoopControl](DEBUG): Construct LoopControl.
2021-08-12T22:18:43.419Z,1628806723.419 [LoopControl] Loaded
2021-08-12T22:18:43.419Z,1628806723.419 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-12T22:18:43.419Z,1628806723.419 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-12T22:18:43.420Z,1628806723.420 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-12T22:18:43.452Z,1628806723.452 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-12T22:18:43.459Z,1628806723.459 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-12T22:18:43.462Z,1628806723.462 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-12T22:18:43.474Z,1628806723.474 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-12T22:18:43.475Z,1628806723.475 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-12T22:18:43.475Z,1628806723.475 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3602
2021-08-12T22:18:43.480Z,1628806723.480 [Supervisor](INFO): Main Thread ID is 828
2021-08-12T22:18:43.480Z,1628806723.480 [Supervisor](DEBUG): Running supervisor.
2021-08-12T22:18:43.481Z,1628806723.481 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3603
2021-08-12T22:18:43.483Z,1628806723.483 [controlThread ThreadHandler](INFO): Handler Thread ID is 3604
2021-08-12T22:18:43.484Z,1628806723.484 [controlThread](DEBUG): Initializing ControlThread
2021-08-12T22:18:43.492Z,1628806723.492 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-12T22:18:43.492Z,1628806723.492 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-12T22:18:43.493Z,1628806723.493 [WorkSite](DEBUG): Initializing WorkSite component.
2021-08-12T22:18:43.494Z,1628806723.494 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-12T22:18:43.494Z,1628806723.494 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-12T22:18:43.495Z,1628806723.495 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-12T22:18:43.495Z,1628806723.495 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-12T22:18:43.495Z,1628806723.495 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-12T22:18:43.496Z,1628806723.496 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-12T22:18:43.497Z,1628806723.497 [SBIT](INFO): Initialize SBIT Component.
2021-08-12T22:18:43.497Z,1628806723.497 [SBIT](IMPORTANT): git: 2021-08-12
2021-08-12T22:18:43.497Z,1628806723.497 [SBIT](INFO): git hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056
2021-08-12T22:18:43.498Z,1628806723.498 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-12T22:18:43.499Z,1628806723.499 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2021-08-12T22:18:43.500Z,1628806723.500 [SBIT](INFO): Beginning SBIT in 31.000000 seconds.
2021-08-12T22:18:43.501Z,1628806723.501 [IBIT](INFO): Initialize IBIT Component.
2021-08-12T22:18:43.502Z,1628806723.502 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-12T22:18:43.503Z,1628806723.503 [logger ThreadHandler](INFO): Handler Thread ID is 3605
2021-08-12T22:18:43.516Z,1628806723.516 [CBIT](DEBUG): Initialized mux pins.
2021-08-12T22:18:43.516Z,1628806723.516 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-12T22:18:43.520Z,1628806723.520 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 3606
2021-08-12T22:18:43.528Z,1628806723.528 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 3607
2021-08-12T22:18:43.529Z,1628806723.529 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-08-12T22:18:43.536Z,1628806723.536 [Onboard ThreadHandler](INFO): Handler Thread ID is 3608
2021-08-12T22:18:43.541Z,1628806723.541 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-12T22:18:43.541Z,1628806723.541 [CBIT](DEBUG): Initializing heartbeat.
2021-08-12T22:18:43.557Z,1628806723.557 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3609
2021-08-12T22:18:43.576Z,1628806723.576 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3610
2021-08-12T22:18:43.577Z,1628806723.577 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-12T22:18:43.581Z,1628806723.581 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 3612
2021-08-12T22:18:43.582Z,1628806723.582 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-12T22:18:43.593Z,1628806723.593 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3613
2021-08-12T22:18:43.598Z,1628806723.598 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-12T22:18:43.599Z,1628806723.599 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-12T22:18:43.599Z,1628806723.599 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-12T22:18:43.599Z,1628806723.599 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-12T22:18:43.599Z,1628806723.599 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-12T22:18:43.599Z,1628806723.599 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-12T22:18:43.600Z,1628806723.600 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-12T22:18:43.600Z,1628806723.600 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-12T22:18:43.600Z,1628806723.600 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-12T22:18:43.600Z,1628806723.600 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-12T22:18:43.601Z,1628806723.601 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-12T22:18:43.612Z,1628806723.612 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-12T22:18:43.612Z,1628806723.612 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-12T22:18:43.648Z,1628806723.648 [CBIT](DEBUG): Backplane powered.
2021-08-12T22:18:43.648Z,1628806723.648 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-12T22:18:43.650Z,1628806723.650 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-12T22:18:43.651Z,1628806723.651 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-12T22:18:43.651Z,1628806723.651 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-12T22:18:43.653Z,1628806723.653 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-12T22:18:43.666Z,1628806723.666 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-12T22:18:43.698Z,1628806723.698 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2021-08-12T22:18:43.699Z,1628806723.699 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-08-12T22:18:43.838Z,1628806723.838 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-12T22:18:43.861Z,1628806723.861 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-08-12T22:18:43.875Z,1628806723.875 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-08-12T22:18:43.879Z,1628806723.879 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-08-12T22:18:43.891Z,1628806723.891 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-08-12T22:18:43.895Z,1628806723.895 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-08-12T22:18:43.913Z,1628806723.913 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-08-12T22:18:43.960Z,1628806723.960 [Radio_Surface](INFO): Powering up
2021-08-12T22:18:44.049Z,1628806724.049 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-08-12T22:18:44.049Z,1628806724.049 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T22:18:44.085Z,1628806724.085 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-12T22:18:44.153Z,1628806724.153 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-12T22:18:44.155Z,1628806724.155 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-12T22:18:44.177Z,1628806724.177 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-08-12T22:18:44.199Z,1628806724.199 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

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

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

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

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

    <DefineArg Name="DetachModeDDM"><Description>
        DDM DETACH mode enumeration (whiskers retracted, latch open).
    </Description><Units:count/><Value>2</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="LeaveDock">

        <Sequence/>

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

<!-- Acoustic tracking directives -->

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

<!-- Leave the dock -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

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

<!-- Power the DDM -->

            <ReadData>
                <Dock:Dock.docking_state/>
            </ReadData>

<!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->

            <Assign><Parallel/><Dock:Dock.docking_state_cmd/><Arg Name="DetachModeDDM"/></Assign>

        </Aggregate>

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

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

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

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

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

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

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

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

        </Aggregate>

    </Aggregate>

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

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

</Mission>


2021-08-12T22:18:44.213Z,1628806724.213 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-08-12T22:18:44.224Z,1628806724.224 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-12T22:18:44.284Z,1628806724.284 [DDM](INFO): Powering up
2021-08-12T22:18:44.285Z,1628806724.285 [DDM](DEBUG): Initializing DDM.
2021-08-12T22:18:44.410Z,1628806724.410 [DUSBL_Hydroid](INFO): Powering up
2021-08-12T22:18:44.410Z,1628806724.410 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-08-12T22:18:44.429Z,1628806724.429 [Power24vConverter](INFO): Powering up.
2021-08-12T22:18:44.480Z,1628806724.480 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:44.488Z,1628806724.488 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-12T22:18:44.489Z,1628806724.489 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:44.496Z,1628806724.496 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-12T22:18:44.497Z,1628806724.497 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:44.504Z,1628806724.504 [MassServo](DEBUG): Initializing MassServo.
2021-08-12T22:18:44.505Z,1628806724.505 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:44.512Z,1628806724.512 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-12T22:18:44.513Z,1628806724.513 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:44.520Z,1628806724.520 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-12T22:18:44.643Z,1628806724.643 [Micromodem](INFO): Powering up
2021-08-12T22:18:44.643Z,1628806724.643 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-12T22:18:45.352Z,1628806725.352 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-08-12T22:18:45.352Z,1628806725.352 [RudderServo](FAULT): Rudder failed to initialize
2021-08-12T22:18:45.352Z,1628806725.352 [RudderServo] Communications Fault, FailCount= 1
2021-08-12T22:18:45.352Z,1628806725.352 [RudderServo](ERROR): Communications Fault
2021-08-12T22:18:45.452Z,1628806725.452 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-12T22:18:45.633Z,1628806725.633 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-12T22:18:45.633Z,1628806725.633 [RudderServo](INFO): Powering down
2021-08-12T22:18:46.281Z,1628806726.281 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-12T22:18:46.401Z,1628806726.401 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-12T22:18:46.405Z,1628806726.405 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-12T22:18:46.405Z,1628806726.405 [RudderServo] No Fault, FailCount= 1
2021-08-12T22:18:49.543Z,1628806729.543 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-12T22:18:52.371Z,1628806732.371 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:18:51.154964Z,RTC,RTC*5C

2021-08-12T22:18:52.371Z,1628806732.371 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-08-12T22:18:51.154964Z,RTC,RTC*5C

2021-08-12T22:19:00.006Z,1628806740.006 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2021-08-12T22:19:00.847Z,1628806740.847 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-12T22:19:01.626Z,1628806741.626 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-12T22:19:01.627Z,1628806741.627 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-12T22:19:02.030Z,1628806742.030 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-12T22:19:02.031Z,1628806742.031 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-12T22:19:02.434Z,1628806742.434 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-08-12T22:19:02.449Z,1628806742.449 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-12T22:19:02.450Z,1628806742.450 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-12T22:19:02.853Z,1628806742.853 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-12T22:19:02.854Z,1628806742.854 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-12T22:19:03.242Z,1628806743.242 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-12T22:19:03.242Z,1628806743.242 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-12T22:19:03.646Z,1628806743.646 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-12T22:19:03.646Z,1628806743.646 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-12T22:19:04.050Z,1628806744.050 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-12T22:19:04.050Z,1628806744.050 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-12T22:19:04.454Z,1628806744.454 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-12T22:19:04.455Z,1628806744.455 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,12,22,19,05*43

2021-08-12T22:19:04.858Z,1628806744.858 [Micromodem](INFO): Nmea in: $CACLK,2021,8,12,22,19,5*41

2021-08-12T22:19:04.860Z,1628806744.860 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-12T22:19:06Z*72

2021-08-12T22:19:04.861Z,1628806744.861 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:19:06.027248Z,USER_CMD,RTC*1E

2021-08-12T22:19:10.932Z,1628806750.932 [NAL9602](INFO): Powering up NAL9602
2021-08-12T22:19:13.347Z,1628806753.347 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T22:19:13.352Z,1628806753.352 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812221912.183576,06,791,22,0097,0150,134,00,00,01,00,4,-01,-01,2,3,1,0,150,-29.1,3.16,-100,-0.16,-01,-1.41,64,14500,4000*42

2021-08-12T22:19:15.035Z,1628806755.035 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-12T22:19:15.056Z,1628806755.056 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-12T22:19:21.826Z,1628806761.826 [NAL9602](INFO): NAL9602 initialized
2021-08-12T22:19:25.977Z,1628806765.977 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005144
CHAN A1 (24V): -0.021527
CHAN A2 (12V): -0.004505
CHAN A3 (5V): -0.001398
CHAN B0 (3.3V): 0.000752
CHAN B1 (3.15aV): 0.000493
CHAN B2 (3.15bV): 0.000516
CHAN B3 (GND): 0.001885
OPEN: 0.006745
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-12T22:19:37.584Z,1628806777.584 [NAL9602](INFO): SBD MO Status=0, MOMSN=23577, MT Status=0, MTMSN=0
2021-08-12T22:19:37.584Z,1628806777.584 [NAL9602](INFO): No messages in MT queue
2021-08-12T22:20:02.229Z,1628806802.229 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222000.00,A,4133.24437,N,07042.09756,W,0.525,0.00,120821,,,A*7B
2021-08-12T22:20:02.232Z,1628806802.232 [NAL9602](INFO): GPS fix at 20210812T222000: (41.554073, -70.701626)
2021-08-12T22:20:09.165Z,1628806809.165 [SBIT](IMPORTANT): SBIT PASSED
2021-08-12T22:20:09.165Z,1628806809.165 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-12T22:20:09.166Z,1628806809.166 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-12T22:20:09.166Z,1628806809.166 [SBIT](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-12T22:20:09.166Z,1628806809.166 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-12T22:20:09.166Z,1628806809.166 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-12T22:20:09.167Z,1628806809.167 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-12T22:20:09.529Z,1628806809.529 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2021-08-12T22:20:09.533Z,1628806809.533 [MissionManager](IMPORTANT): Started mission Startup
2021-08-12T22:20:09.533Z,1628806809.533 [Startup] Running Loop=1
2021-08-12T22:20:09.534Z,1628806809.534 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-12T22:20:09.534Z,1628806809.534 [Startup:A.GoToSurface] Running Loop=1
2021-08-12T22:20:09.534Z,1628806809.534 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-12T22:20:09.534Z,1628806809.534 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-12T22:20:09.535Z,1628806809.535 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-12T22:20:09.535Z,1628806809.535 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-12T22:20:09.536Z,1628806809.536 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-12T22:20:09.536Z,1628806809.536 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-12T22:20:09.538Z,1628806809.538 [Startup:StartupSatComms] Running Loop=1
2021-08-12T22:20:09.538Z,1628806809.538 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-12T22:20:09.538Z,1628806809.538 [Startup:StartupSatComms:A] Running Loop=1
2021-08-12T22:20:09.926Z,1628806809.926 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T22:20:09.931Z,1628806809.931 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812222010.185776,06,200,23,0092,0150,216,02,02,00,02,5,-01,-01,2,3,1,0,150,0.2,7.19,-100,-4.19,-01,-1.95,64,14500,4000*5A

2021-08-12T22:20:09.953Z,1628806809.953 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-12T22:20:11.538Z,1628806811.538 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222009.00,A,4133.24575,N,07042.09700,W,0.680,0.00,120821,,,A*7A
2021-08-12T22:20:11.541Z,1628806811.541 [NAL9602](INFO): GPS fix at 20210812T222009: (41.554096, -70.701617)
2021-08-12T22:20:11.551Z,1628806811.551 [Startup:StartupSatComms:A] Stopped
2021-08-12T22:20:11.551Z,1628806811.551 [Startup:StartupSatComms:B] Running Loop=1
2021-08-12T22:20:11.976Z,1628806811.976 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-12T22:20:33.420Z,1628806833.420 [NAL9602](INFO): SBD MO Status=1, MOMSN=23578, MT Status=0, MTMSN=0
2021-08-12T22:20:33.468Z,1628806833.468 [NAL9602](INFO): Sent 52 bytes from file Logs/20210812T202459/Courier0036.lzma
2021-08-12T22:20:33.468Z,1628806833.468 [NAL9602](INFO): Packets left to send: 0
2021-08-12T22:20:34.245Z,1628806834.245 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T22:20:34.643Z,1628806834.643 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812222032.186354,06,1128,24,0107,0150,208,02,02,01,02,5,-01,-01,2,3,6,0,150,2.5,13.98,-100,-10.98,-01,3.00,65,14500,4000*41

2021-08-12T22:20:43.318Z,1628806843.318 [NAL9602](INFO): SBD MO Status=1, MOMSN=23579, MT Status=0, MTMSN=0
2021-08-12T22:20:43.368Z,1628806843.368 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Courier0000.lzma
2021-08-12T22:20:43.369Z,1628806843.369 [NAL9602](INFO): Packets left to send: 1
2021-08-12T22:20:54.731Z,1628806854.731 [NAL9602](INFO): SBD MO Status=1, MOMSN=23580, MT Status=0, MTMSN=0
2021-08-12T22:20:54.790Z,1628806854.790 [NAL9602](INFO): Sent 69 bytes from file Logs/20210812T221831/Courier0000.lzma
2021-08-12T22:20:54.791Z,1628806854.791 [NAL9602](INFO): Packets left to send: 0
2021-08-12T22:21:03.711Z,1628806863.711 [NAL9602](INFO): SBD MO Status=1, MOMSN=23581, MT Status=0, MTMSN=0
2021-08-12T22:21:03.772Z,1628806863.772 [NAL9602](INFO): Sent 133 bytes from file Logs/20210812T202459/Express0037.lzma
2021-08-12T22:21:03.772Z,1628806863.772 [NAL9602](INFO): Packets left to send: 0
2021-08-12T22:21:11.520Z,1628806871.520 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T22:21:11.521Z,1628806871.521 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T22:21:11.569Z,1628806871.569 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-12T22:20:11.6Z
2021-08-12T22:21:11.570Z,1628806871.570 [Startup:StartupSatComms:B] Stopped
2021-08-12T22:21:11.570Z,1628806871.570 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-12T22:21:11.570Z,1628806871.570 [Startup:StartupSatComms] Stopped
2021-08-12T22:21:11.570Z,1628806871.570 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-12T22:21:11.571Z,1628806871.571 [Startup](INFO): Completed Startup
2021-08-12T22:21:11.571Z,1628806871.571 [MissionManager](INFO): Startup is completed.
2021-08-12T22:21:11.571Z,1628806871.571 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-12T22:21:11.571Z,1628806871.571 [Startup] Stopped
2021-08-12T22:21:11.571Z,1628806871.571 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-12T22:21:11.571Z,1628806871.571 [Startup:A.GoToSurface] Stopped
2021-08-12T22:21:11.572Z,1628806871.572 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-12T22:21:11.919Z,1628806871.919 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T22:21:11.925Z,1628806871.925 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812222112.183506,06,423,26,0106,0150,82,03,03,00,03,-1,-01,-01,1,3,1,0,150,-100.0,-0.11,-100,3.11,-01,0.43,-2147483648,14500,4000*63

2021-08-12T22:21:11.935Z,1628806871.935 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-12T22:21:11.936Z,1628806871.936 [DefaultWithUndock] Running Loop=1
2021-08-12T22:21:11.936Z,1628806871.936 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-12T22:21:11.936Z,1628806871.936 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-12T22:21:11.936Z,1628806871.936 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-12T22:21:13.256Z,1628806873.256 [NAL9602](INFO): SBD MO Status=1, MOMSN=23582, MT Status=0, MTMSN=0
2021-08-12T22:21:13.312Z,1628806873.312 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0001.lzma
2021-08-12T22:21:13.313Z,1628806873.313 [NAL9602](INFO): Packets left to send: 5
2021-08-12T22:21:42.232Z,1628806902.232 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-12T22:21:42.232Z,1628806902.232 [DefaultWithUndock:A.Wait] Stopped
2021-08-12T22:21:42.232Z,1628806902.232 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T22:21:42.232Z,1628806902.232 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-12T22:21:42.232Z,1628806902.232 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-12T22:21:42.233Z,1628806902.233 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-12T22:21:42.233Z,1628806902.233 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-12T22:21:42.233Z,1628806902.233 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-12T22:21:42.233Z,1628806902.233 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-12T22:21:42.233Z,1628806902.233 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T22:21:42.637Z,1628806902.637 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-12T22:21:43.023Z,1628806903.023 [PowerOnly](INFO): Powering up loadControl
2021-08-12T22:21:43.871Z,1628806903.871 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T22:21:45.139Z,1628806905.139 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:45.487Z,1628806905.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:21:45.487Z,1628806905.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:21:45.487Z,1628806905.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:21:45.489Z,1628806905.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:21:45.885Z,1628806905.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2021-08-12T22:21:45.886Z,1628806905.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:21:45.886Z,1628806905.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:21:45.888Z,1628806905.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:21:46.289Z,1628806906.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:21:47.137Z,1628806907.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B57,000,021D9,189,80,80
2021-08-12T22:21:47.138Z,1628806907.138 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,B57,000,021D9,189,80,80
2021-08-12T22:21:47.153Z,1628806907.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222147.41*5B

2021-08-12T22:21:47.210Z,1628806907.210 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-12T22:21:47.517Z,1628806907.517 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-12T22:21:47.929Z,1628806907.929 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:50.791Z,1628806910.791 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:51.552Z,1628806911.552 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.063183
2021-08-12T22:21:53.723Z,1628806913.723 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:53.989Z,1628806913.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:21:53.989Z,1628806913.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:21:53.989Z,1628806913.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:21:53.990Z,1628806913.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:21:54.409Z,1628806914.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B57,000,021D9,189,80,80
2021-08-12T22:21:54.409Z,1628806914.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:21:54.409Z,1628806914.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:21:54.411Z,1628806914.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:21:54.828Z,1628806914.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:21:55.596Z,1628806915.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222155.94*50

2021-08-12T22:21:56.404Z,1628806916.404 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:58.005Z,1628806918.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:21:58.005Z,1628806918.005 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:21:58.005Z,1628806918.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:21:59.249Z,1628806919.249 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:21:59.617Z,1628806919.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:21:59.617Z,1628806919.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:21:59.617Z,1628806919.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:21:59.618Z,1628806919.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:22:00.021Z,1628806920.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80
2021-08-12T22:22:00.021Z,1628806920.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:22:00.021Z,1628806920.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:22:00.023Z,1628806920.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:22:00.438Z,1628806920.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:22:01.250Z,1628806921.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222201.55*5F

2021-08-12T22:22:02.072Z,1628806922.072 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:22:03.661Z,1628806923.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:22:03.661Z,1628806923.661 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:22:03.662Z,1628806923.662 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:22:04.394Z,1628806924.394 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004655
2021-08-12T22:22:04.911Z,1628806924.911 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:22:05.301Z,1628806925.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:22:05.301Z,1628806925.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:22:05.301Z,1628806925.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:22:05.302Z,1628806925.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:22:05.681Z,1628806925.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80
2021-08-12T22:22:05.681Z,1628806925.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:22:05.682Z,1628806925.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:22:05.683Z,1628806925.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:22:06.091Z,1628806926.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:22:07.042Z,1628806927.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222207.21*5A

2021-08-12T22:22:07.768Z,1628806927.768 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning DDM to standby.
2021-08-12T22:22:07.769Z,1628806927.769 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:22:09.323Z,1628806929.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:22:09.324Z,1628806929.324 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80
2021-08-12T22:22:09.324Z,1628806929.324 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:22:10.166Z,1628806930.166 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-12T22:22:10.554Z,1628806930.554 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-12T22:22:10.555Z,1628806930.555 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-12T22:22:10.555Z,1628806930.555 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T22:22:10.555Z,1628806930.555 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-12T22:22:10.555Z,1628806930.555 [DefaultWithUndock:LeaveDock] Stopped
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-12T22:22:10.556Z,1628806930.556 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-12T22:22:10.557Z,1628806930.557 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-12T22:22:10.558Z,1628806930.558 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-12T22:22:10.558Z,1628806930.558 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-12T22:22:10.558Z,1628806930.558 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-12T22:22:10.951Z,1628806930.951 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-12T22:22:10.951Z,1628806930.951 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T22:22:10.952Z,1628806930.952 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T22:22:10.952Z,1628806930.952 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-12T22:22:10.952Z,1628806930.952 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-12T22:22:10.952Z,1628806930.952 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-12T22:22:10.952Z,1628806930.952 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-12T22:22:11.365Z,1628806931.365 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-12T22:22:38.846Z,1628806958.846 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T22:22:39.810Z,1628806959.810 [CommandLine](IMPORTANT): got command failComponent
2021-08-12T22:22:39.810Z,1628806959.810 [CommandLine](IMPORTANT): Failed components:
2021-08-12T22:22:39.811Z,1628806959.811 [CommandLine](IMPORTANT): No failed Components.
2021-08-12T22:22:40.807Z,1628806960.807 [NAL9602](INFO): SBD MO Status=0, MOMSN=23583, MT Status=0, MTMSN=0
2021-08-12T22:22:40.807Z,1628806960.807 [NAL9602](INFO): No messages in MT queue
2021-08-12T22:22:48.919Z,1628806968.919 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T22:22:59.035Z,1628806979.035 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T22:23:14.384Z,1628806994.384 [PowerOnly](INFO): Powering down loadControl
2021-08-12T22:23:49.105Z,1628807029.105 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T22:24:19.018Z,1628807059.018 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T22:25:36.147Z,1628807136.147 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222534.00,A,4133.26402,N,07042.07280,W,1.263,0.00,120821,,,A*79
2021-08-12T22:25:36.149Z,1628807136.149 [NAL9602](INFO): GPS fix at 20210812T222534: (41.554400, -70.701213)
2021-08-12T22:25:36.173Z,1628807136.173 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T22:25:36.173Z,1628807136.173 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T22:25:36.575Z,1628807136.575 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-12T22:25:40.364Z,1628807140.364 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T221831/Courier0004.lzma
2021-08-12T22:25:41.366Z,1628807141.366 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Courier0004.lzma.bak
2021-08-12T22:25:41.366Z,1628807141.366 [DataOverHttps](INFO): SBD MOMSN=428370
2021-08-12T22:25:50.406Z,1628807150.406 [DataOverHttps](INFO): Sending 980 bytes from file Logs/20210812T221831/Express0001.lzma
2021-08-12T22:25:51.406Z,1628807151.406 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0001.lzma.bak
2021-08-12T22:25:51.406Z,1628807151.406 [DataOverHttps](INFO): SBD MOMSN=428378
2021-08-12T22:26:00.444Z,1628807160.444 [DataOverHttps](INFO): Sending 235 bytes from file Logs/20210812T221831/Express0005.lzma
2021-08-12T22:26:01.447Z,1628807161.447 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0005.lzma.bak
2021-08-12T22:26:01.447Z,1628807161.447 [DataOverHttps](INFO): SBD MOMSN=428400
2021-08-12T22:26:02.892Z,1628807162.892 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T22:26:02.893Z,1628807162.893 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T22:26:02.893Z,1628807162.893 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T22:26:08.460Z,1628807168.460 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-12T22:26:08.463Z,1628807168.463 [BPC1](INFO): Received data from all battery sticks.
2021-08-12T22:26:08.467Z,1628807168.467 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T22:27:39.051Z,1628807259.051 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T22:29:38.338Z,1628807378.338 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T222937
2021-08-12T22:29:42.358Z,1628807382.358 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 40 min;set lineCaptureDepth.MicromodemCommsInterval 15 min;set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 9 m" 2o6gw 1 2
2021-08-12T22:29:42.366Z,1628807382.366 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 40 min;set lineCaptureDepth.MicromodemCommsInterval 15 min;set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 9 m" 2o6gw 1 2.000000
2021-08-12T22:29:42.367Z,1628807382.367 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2o6gw
2021-08-12T22:29:42.368Z,1628807382.368 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2o6gw'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 40 min;set lineCaptureDepth.MicromodemCommsInterval 15 min;set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 9 m" ASAP
2021-08-12T22:29:43.358Z,1628807383.358 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T222942
2021-08-12T22:29:47.384Z,1628807387.384 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MinOffshore .5 km;run" 2o6gw 2 2
2021-08-12T22:29:47.473Z,1628807387.473 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MinOffshore .5 km;run" 2o6gw 2 2.000000
2021-08-12T22:29:47.474Z,1628807387.474 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2o6gw
2021-08-12T22:29:47.475Z,1628807387.475 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2o6gw'): "set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-12T22:29:47.707Z,1628807387.707 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T22:29:47.708Z,1628807387.708 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T22:29:47.879Z,1628807387.879 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-12T22:29:47.882Z,1628807387.882 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-12T22:29:47.889Z,1628807387.889 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-12T22:29:47.892Z,1628807387.892 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-12T22:29:47.895Z,1628807387.895 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-12T22:29:47.899Z,1628807387.899 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-12T22:29:47.938Z,1628807387.938 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-12T22:29:47.941Z,1628807387.941 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-12T22:29:47.960Z,1628807387.960 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-12T22:29:47.963Z,1628807387.963 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-12T22:29:47.967Z,1628807387.967 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-12T22:29:47.977Z,1628807387.977 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-12T22:29:47.979Z,1628807387.979 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-12T22:29:47.983Z,1628807387.983 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-12T22:29:48.000Z,1628807388.000 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-12T22:29:48.001Z,1628807388.001 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-12T22:29:48.394Z,1628807388.394 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-12T22:29:48.397Z,1628807388.397 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-12T22:29:48.401Z,1628807388.401 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-12T22:29:48.404Z,1628807388.404 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-12T22:29:48.407Z,1628807388.407 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-12T22:29:48.410Z,1628807388.410 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-12T22:29:48.413Z,1628807388.413 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-12T22:29:48.417Z,1628807388.417 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-12T22:29:48.420Z,1628807388.420 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-12T22:29:48.423Z,1628807388.423 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-12T22:29:48.426Z,1628807388.426 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-12T22:29:48.429Z,1628807388.429 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-12T22:29:48.448Z,1628807388.448 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-12T22:29:48.451Z,1628807388.451 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-12T22:29:48.464Z,1628807388.464 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-12T22:29:48.472Z,1628807388.472 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-12T22:29:48.480Z,1628807388.480 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-12T22:29:48.488Z,1628807388.488 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-12T22:29:48.492Z,1628807388.492 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-12T22:29:48.495Z,1628807388.495 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-12T22:29:48.503Z,1628807388.503 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-12T22:29:48.510Z,1628807388.510 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-12T22:29:48.513Z,1628807388.513 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-12T22:29:48.525Z,1628807388.525 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-12T22:29:48.532Z,1628807388.532 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-12T22:29:48.535Z,1628807388.535 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-12T22:29:48.543Z,1628807388.543 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-12T22:29:48.550Z,1628807388.550 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-12T22:29:48.555Z,1628807388.555 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-12T22:29:48.566Z,1628807388.566 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-12T22:29:48.580Z,1628807388.580 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-12T22:29:48.583Z,1628807388.583 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-12T22:29:48.591Z,1628807388.591 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-12T22:29:48.598Z,1628807388.598 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-12T22:29:48.602Z,1628807388.602 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-12T22:29:48.618Z,1628807388.618 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-12T22:29:48.625Z,1628807388.625 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-12T22:29:48.633Z,1628807388.633 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-12T22:29:48.678Z,1628807388.678 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-12T22:29:48.683Z,1628807388.683 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-12T22:29:48.691Z,1628807388.691 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-12T22:29:48.712Z,1628807388.712 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-12T22:29:48.718Z,1628807388.718 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-12T22:29:48.730Z,1628807388.730 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-12T22:29:48.767Z,1628807388.767 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-12T22:29:48.799Z,1628807388.799 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-12T22:29:48.803Z,1628807388.803 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-12T22:29:48.807Z,1628807388.807 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-12T22:29:48.818Z,1628807388.818 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-12T22:29:48.825Z,1628807388.825 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-12T22:29:48.829Z,1628807388.829 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-12T22:29:48.841Z,1628807388.841 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-12T22:29:48.848Z,1628807388.848 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-12T22:29:48.854Z,1628807388.854 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-12T22:29:48.858Z,1628807388.858 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-12T22:29:48.861Z,1628807388.861 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-12T22:29:48.881Z,1628807388.881 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-12T22:29:48.888Z,1628807388.888 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-12T22:29:48.896Z,1628807388.896 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-12T22:29:48.899Z,1628807388.899 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-12T22:29:48.911Z,1628807388.911 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-12T22:29:48.918Z,1628807388.918 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-12T22:29:48.926Z,1628807388.926 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-12T22:29:48.929Z,1628807388.929 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-12T22:29:48.998Z,1628807388.998 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T22:29:49.033Z,1628807389.033 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T22:29:49.110Z,1628807389.110 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T22:29:49.158Z,1628807389.158 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T22:29:49.198Z,1628807389.198 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T22:29:49.240Z,1628807389.240 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T22:29:49.258Z,1628807389.258 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T22:29:49.283Z,1628807389.283 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T22:29:49.316Z,1628807389.316 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-12T22:29:49.355Z,1628807389.355 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-12T22:29:49.362Z,1628807389.362 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-12T22:29:49.366Z,1628807389.366 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-12T22:29:49.367Z,1628807389.367 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-12T22:29:49.393Z,1628807389.393 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-12T22:29:49.415Z,1628807389.415 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-12T22:29:49.446Z,1628807389.446 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-12T22:29:49.559Z,1628807389.559 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-12T22:29:49.581Z,1628807389.581 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-12T22:29:49.588Z,1628807389.588 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-12T22:29:49.591Z,1628807389.591 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-12T22:29:49.599Z,1628807389.599 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-12T22:29:49.603Z,1628807389.603 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-12T22:29:49.614Z,1628807389.614 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-12T22:29:49.639Z,1628807389.639 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-12T22:29:49.691Z,1628807389.691 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-12T22:29:49.730Z,1628807389.730 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-12T22:29:49.745Z,1628807389.745 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-12T22:29:49.761Z,1628807389.761 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-12T22:29:49.818Z,1628807389.818 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-12T22:29:50.163Z,1628807390.163 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-12T22:29:50.167Z,1628807390.167 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-12T22:29:50.179Z,1628807390.179 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-12T22:29:50.183Z,1628807390.183 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-12T22:29:50.195Z,1628807390.195 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-12T22:29:50.203Z,1628807390.203 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-12T22:29:50.207Z,1628807390.207 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-12T22:29:50.218Z,1628807390.218 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-12T22:29:50.226Z,1628807390.226 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-12T22:29:50.234Z,1628807390.234 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-12T22:29:50.238Z,1628807390.238 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-12T22:29:50.253Z,1628807390.253 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-12T22:29:50.294Z,1628807390.294 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-12T22:29:50.298Z,1628807390.298 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-12T22:29:50.321Z,1628807390.321 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-12T22:29:50.324Z,1628807390.324 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-12T22:29:50.327Z,1628807390.327 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-12T22:29:50.330Z,1628807390.330 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-12T22:29:50.346Z,1628807390.346 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-12T22:29:50.349Z,1628807390.349 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-12T22:29:50.361Z,1628807390.361 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-12T22:29:50.364Z,1628807390.364 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-12T22:29:50.385Z,1628807390.385 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-12T22:29:50.388Z,1628807390.388 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-12T22:29:50.391Z,1628807390.391 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-12T22:29:50.406Z,1628807390.406 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-12T22:29:50.412Z,1628807390.412 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-12T22:29:50.449Z,1628807390.449 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-12T22:29:50.454Z,1628807390.454 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-12T22:29:50.457Z,1628807390.457 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-12T22:29:50.458Z,1628807390.458 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-12T22:29:50.474Z,1628807390.474 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-12T22:29:50.496Z,1628807390.496 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-12T22:29:50.539Z,1628807390.539 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-12T22:29:50.543Z,1628807390.543 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-12T22:29:50.563Z,1628807390.563 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-12T22:29:50.563Z,1628807390.563 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T22:29:50.611Z,1628807390.611 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-12T22:29:50.624Z,1628807390.624 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-12T22:29:50.634Z,1628807390.634 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-12T22:29:50.709Z,1628807390.709 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-12T22:29:50.750Z,1628807390.750 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-12T22:29:50.806Z,1628807390.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-12T22:29:50.832Z,1628807390.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-12T22:29:50.864Z,1628807390.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-12T22:29:50.864Z,1628807390.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-12T22:29:50.872Z,1628807390.872 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-12T22:29:50.890Z,1628807390.890 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-12T22:29:50.933Z,1628807390.933 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-12T22:29:50.945Z,1628807390.945 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-12T22:29:50.953Z,1628807390.953 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-12T22:29:50.961Z,1628807390.961 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-12T22:29:50.976Z,1628807390.976 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-12T22:29:51.041Z,1628807391.041 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-12T22:29:51.041Z,1628807391.041 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-12T22:29:51.061Z,1628807391.061 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-12T22:29:51.061Z,1628807391.061 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T22:29:51.393Z,1628807391.393 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="NumPingsUSBL"><Description>
        Number of pings requested while in USBL mode range.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="RangeUSBL"><Description>
        USBL mode range.
    </Description><Units:meter/><Value>40</Value></DefineArg>

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

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

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

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

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

    <DefineOutput Name="NumPings"><Description>
        Mission variable (don't change). The mission sets this variable to
        update the requested ping number and enter usbl mode.
    </Description><Units:count/><Value>1</Value></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

<!-- Micromodem comms -->

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

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

    <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

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

<!-- Add LineCapture directives. -->

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

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

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

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

<!-- Add SetNav directives. -->

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

<!-- Add USBL mode directives. -->

    <Aggregate Id="UpdateNumPings_NotTerminal">

        <While>
            <Not><Arg Name="LineCapture:GuidanceMode"/><Eq><Arg Name="LineCapture:Terminal"/></Eq></Not>
            <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not></And>
        </While>

        <Syslog Severity="Info">No longer in Terminal. Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings.</Syslog>

        <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>


    <Aggregate Id="UpdateNumPings_Terminal">

        <While>
            <Arg Name="LineCapture:GuidanceMode"/><Eq><Arg Name="LineCapture:Terminal"/></Eq>
        </While>

        <Aggregate Id="UpdateNumPingsUSBL">

            <When>
                <Arg Name="LineCapture:Range"/><Lt><Arg Name="RangeUSBL"/></Lt>
                <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumPingsUSBL"/></Eq></Not></And>
            </When>

            <Syslog Severity="Info">Entering USBL mode with <Arg Name="NumPingsUSBL"/><Units:count/>pings.</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumPingsUSBL"/></Assign>

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

            <When>
                <Arg Name="LineCapture:Range"/><Ge><Arg Name="RangeUSBL"/></Ge>
                <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not></And>
            </When>

            <Syslog Severity="Info">Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings.</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

        </Aggregate>
    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

<!-- Execute the LineCapture sequence. -->

        <Call RefId="LineCapture"/>

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

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

        <Aggregate Id="Docked">

            <Sequence/>

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

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

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

            <Aggregate Id="Detach">

                <Sequence/>

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

                <Guidance:Undock Id="Undock">
                    <Sequence/>
                </Guidance:Undock>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2021-08-12T22:29:51.394Z,1628807391.394 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T22:30:05.818Z,1628807405.818 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 40.000000 minute
2021-08-12T22:30:05.819Z,1628807405.819 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 15.000000 minute
2021-08-12T22:30:05.820Z,1628807405.820 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-12T22:30:05.821Z,1628807405.821 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-12T22:30:09.016Z,1628807409.016 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-12T22:30:09.017Z,1628807409.017 [CommandLine](IMPORTANT): got command run
2021-08-12T22:30:09.022Z,1628807409.022 [CommandLine](IMPORTANT): Running 
2021-08-12T22:30:09.287Z,1628807409.287 [DefaultWithUndock] Stopped
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T22:30:09.288Z,1628807409.288 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T22:30:09.289Z,1628807409.289 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T22:30:09.289Z,1628807409.289 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T22:30:09.289Z,1628807409.289 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-12T22:30:09.289Z,1628807409.289 [lineCaptureDepth] Running Loop=1
2021-08-12T22:30:09.289Z,1628807409.289 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-12T22:30:09.289Z,1628807409.289 [lineCaptureDepth:Science] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-12T22:30:09.290Z,1628807409.290 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T22:30:09.291Z,1628807409.291 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T22:30:09.293Z,1628807409.293 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-12T22:30:09.293Z,1628807409.293 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T22:30:09.294Z,1628807409.294 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T22:30:09.297Z,1628807409.297 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-12T22:30:09.297Z,1628807409.297 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-12T22:30:09.297Z,1628807409.297 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T22:30:09.297Z,1628807409.297 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T22:30:09.299Z,1628807409.299 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-12T22:30:09.299Z,1628807409.299 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-12T22:30:09.300Z,1628807409.300 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T22:30:09.300Z,1628807409.300 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T22:30:09.300Z,1628807409.300 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-12T22:30:09.301Z,1628807409.301 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-12T22:30:09.301Z,1628807409.301 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T22:30:09.301Z,1628807409.301 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T22:30:09.303Z,1628807409.303 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-12T22:30:09.303Z,1628807409.303 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-12T22:30:09.303Z,1628807409.303 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T22:30:09.303Z,1628807409.303 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T22:30:09.305Z,1628807409.305 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-12T22:30:09.305Z,1628807409.305 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-12T22:30:09.305Z,1628807409.305 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T22:30:09.306Z,1628807409.306 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T22:30:09.306Z,1628807409.306 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-12T22:30:09.306Z,1628807409.306 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-12T22:30:09.306Z,1628807409.306 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-12T22:30:09.306Z,1628807409.306 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-12T22:30:09.307Z,1628807409.307 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T22:30:09.308Z,1628807409.308 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-12T22:30:09.308Z,1628807409.308 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:30:09.308Z,1628807409.308 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T22:30:09.308Z,1628807409.308 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T22:30:09.308Z,1628807409.308 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T22:30:09.309Z,1628807409.309 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T22:30:09.310Z,1628807409.310 [lineCaptureDepth:C] Running Loop=1
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-12T22:30:09.311Z,1628807409.311 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-12T22:30:09.312Z,1628807409.312 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T22:30:09.312Z,1628807409.312 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T22:30:09.312Z,1628807409.312 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T22:30:09.312Z,1628807409.312 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:30:09.312Z,1628807409.312 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T22:30:09.313Z,1628807409.313 [lineCaptureDepth:C] Stopped
2021-08-12T22:30:09.313Z,1628807409.313 [lineCaptureDepth:D] Running Loop=1
2021-08-12T22:30:09.313Z,1628807409.313 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-12T22:30:09.313Z,1628807409.313 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T22:30:09.314Z,1628807409.314 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T22:30:09.314Z,1628807409.314 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T22:30:09.315Z,1628807409.315 [lineCaptureDepth:Science] Running Loop=1
2021-08-12T22:30:09.316Z,1628807409.316 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-12T22:30:09.317Z,1628807409.317 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T22:30:09.318Z,1628807409.318 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-12T22:30:09.319Z,1628807409.319 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T22:30:09.320Z,1628807409.320 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-12T22:30:09.322Z,1628807409.322 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-12T22:30:09.323Z,1628807409.323 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-12T22:30:09.323Z,1628807409.323 [lineCaptureDepth:Science:F] Stopped
2021-08-12T22:30:09.323Z,1628807409.323 [lineCaptureDepth:Science:E] Stopped
2021-08-12T22:30:09.323Z,1628807409.323 [lineCaptureDepth:Science:D] Stopped
2021-08-12T22:30:09.323Z,1628807409.323 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-12T22:30:09.340Z,1628807409.340 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-12T22:30:09.341Z,1628807409.341 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-12T22:30:09.341Z,1628807409.341 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-12T22:30:09.342Z,1628807409.342 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-12T22:30:09.343Z,1628807409.343 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-12T22:30:09.343Z,1628807409.343 [lineCaptureDepth:Science:A] Stopped
2021-08-12T22:30:09.392Z,1628807409.392 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-12T22:30:09.690Z,1628807409.690 [lineCaptureDepth:D] Stopped
2021-08-12T22:30:09.691Z,1628807409.691 [lineCaptureDepth:E] Running Loop=1
2021-08-12T22:30:10.097Z,1628807410.097 [lineCaptureDepth:E] Stopped
2021-08-12T22:30:10.097Z,1628807410.097 [lineCaptureDepth:G] Running Loop=1
2021-08-12T22:30:10.487Z,1628807410.487 [lineCaptureDepth:G] Stopped
2021-08-12T22:30:10.487Z,1628807410.487 [lineCaptureDepth:H] Running Loop=1
2021-08-12T22:30:10.931Z,1628807410.931 [lineCaptureDepth:H] Stopped
2021-08-12T22:30:10.931Z,1628807410.931 [lineCaptureDepth:J] Running Loop=1
2021-08-12T22:30:11.293Z,1628807411.293 [lineCaptureDepth:J] Stopped
2021-08-12T22:30:11.293Z,1628807411.293 [lineCaptureDepth:M] Running Loop=1
2021-08-12T22:30:11.801Z,1628807411.801 [lineCaptureDepth:M] Stopped
2021-08-12T22:30:11.801Z,1628807411.801 [lineCaptureDepth:N] Running Loop=1
2021-08-12T22:30:12.119Z,1628807412.119 [lineCaptureDepth:N] Stopped
2021-08-12T22:30:12.120Z,1628807412.120 [lineCaptureDepth:O] Running Loop=1
2021-08-12T22:30:12.120Z,1628807412.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:12.497Z,1628807412.497 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-12T22:30:12.512Z,1628807412.512 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:12.512Z,1628807412.512 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:12.512Z,1628807412.512 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:12.513Z,1628807412.513 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:12.534Z,1628807412.534 [lineCaptureDepth:O] Stopped
2021-08-12T22:30:12.535Z,1628807412.535 [lineCaptureDepth:Lap] Running Loop=1
2021-08-12T22:30:12.535Z,1628807412.535 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-12T22:30:12.535Z,1628807412.535 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-12T22:30:12.901Z,1628807412.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80
2021-08-12T22:30:12.901Z,1628807412.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:12.901Z,1628807412.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:12.903Z,1628807412.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:13.032Z,1628807413.032 [lineCaptureDepth:Lap:A] Stopped
2021-08-12T22:30:13.033Z,1628807413.033 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-12T22:30:13.033Z,1628807413.033 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-12T22:30:13.313Z,1628807413.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:13.381Z,1628807413.381 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-12T22:30:13.381Z,1628807413.381 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-12T22:30:13.381Z,1628807413.381 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-12T22:30:13.381Z,1628807413.381 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-12T22:30:13.382Z,1628807413.382 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-12T22:30:13.383Z,1628807413.383 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-12T22:30:13.384Z,1628807413.384 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-12T22:30:13.385Z,1628807413.385 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-12T22:30:13.385Z,1628807413.385 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-12T22:30:13.385Z,1628807413.385 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T22:30:13.385Z,1628807413.385 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T22:30:13.386Z,1628807413.386 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T22:30:13.386Z,1628807413.386 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-12T22:30:13.387Z,1628807413.387 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-12T22:30:13.735Z,1628807413.735 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-12T22:30:13.735Z,1628807413.735 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-12T22:30:14.148Z,1628807414.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223014.43*5F

2021-08-12T22:30:14.161Z,1628807414.161 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-12T22:30:14.161Z,1628807414.161 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-12T22:30:14.533Z,1628807414.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0261A,186,80,80,97,FF
2021-08-12T22:30:14.534Z,1628807414.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:14.599Z,1628807414.599 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-12T22:30:14.599Z,1628807414.599 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-12T22:30:14.982Z,1628807414.982 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T22:30:14.983Z,1628807414.983 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-12T22:30:15.008Z,1628807415.008 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-12T22:30:15.008Z,1628807415.008 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T22:30:15.008Z,1628807415.008 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T22:30:15.008Z,1628807415.008 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-12T22:30:15.009Z,1628807415.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T22:30:15.010Z,1628807415.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T22:30:15.011Z,1628807415.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-12T22:30:15.362Z,1628807415.362 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-12T22:30:15.363Z,1628807415.363 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-12T22:30:15.745Z,1628807415.745 [PowerOnly](INFO): Powering up loadControl
2021-08-12T22:30:17.408Z,1628807417.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:17.804Z,1628807417.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:17.804Z,1628807417.804 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:17.805Z,1628807417.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:17.805Z,1628807417.805 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:18.209Z,1628807418.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0261A,186,80,80,97,FF
2021-08-12T22:30:18.209Z,1628807418.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:18.210Z,1628807418.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:18.211Z,1628807418.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:18.291Z,1628807418.291 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-12T22:30:18.592Z,1628807418.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:18.622Z,1628807418.622 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-12T22:30:19.010Z,1628807419.010 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T22:30:19.419Z,1628807419.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223019.74*56

2021-08-12T22:30:19.797Z,1628807419.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,02628,187,80,80,59,FF
2021-08-12T22:30:19.797Z,1628807419.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:22.675Z,1628807422.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:23.029Z,1628807423.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:23.029Z,1628807423.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:23.029Z,1628807423.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:23.030Z,1628807423.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:23.437Z,1628807423.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,02628,187,80,80,59,FF
2021-08-12T22:30:23.437Z,1628807423.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:23.437Z,1628807423.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:23.439Z,1628807423.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:23.870Z,1628807423.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:24.662Z,1628807424.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223024.96*54

2021-08-12T22:30:25.065Z,1628807425.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,02636,186,80,80,77,FF
2021-08-12T22:30:25.066Z,1628807425.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:27.903Z,1628807427.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:28.294Z,1628807428.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:28.294Z,1628807428.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:28.294Z,1628807428.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:28.295Z,1628807428.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:28.697Z,1628807428.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,02636,186,80,80,77,FF
2021-08-12T22:30:28.697Z,1628807428.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:28.697Z,1628807428.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:28.699Z,1628807428.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:29.143Z,1628807429.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:29.939Z,1628807429.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223030.22*5E

2021-08-12T22:30:30.309Z,1628807430.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,02646,186,80,80,77,FF
2021-08-12T22:30:30.309Z,1628807430.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:33.212Z,1628807433.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:33.552Z,1628807433.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:33.552Z,1628807433.552 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:33.552Z,1628807433.552 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:33.553Z,1628807433.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:33.946Z,1628807433.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,02646,186,80,80,77,FF
2021-08-12T22:30:33.946Z,1628807433.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:33.947Z,1628807433.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:33.950Z,1628807433.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:34.345Z,1628807434.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:35.167Z,1628807435.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223035.47*58

2021-08-12T22:30:35.572Z,1628807435.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0264A,186,80,80,7B,FF
2021-08-12T22:30:35.572Z,1628807435.572 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:38.407Z,1628807438.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:38.825Z,1628807438.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:38.825Z,1628807438.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:38.826Z,1628807438.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:38.827Z,1628807438.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:38.913Z,1628807438.913 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 550.62 m. Transitioning DDM to standby.
2021-08-12T22:30:39.218Z,1628807439.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0264A,186,80,80,7B,FF
2021-08-12T22:30:39.218Z,1628807439.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:39.219Z,1628807439.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:39.232Z,1628807439.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:39.601Z,1628807439.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:40.409Z,1628807440.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223040.76*58

2021-08-12T22:30:40.829Z,1628807440.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,02654,186,80,80,85,FF
2021-08-12T22:30:40.829Z,1628807440.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:41.286Z,1628807441.286 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-12T22:30:41.666Z,1628807441.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-12T22:30:41.666Z,1628807441.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-12T22:30:41.666Z,1628807441.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-12T22:30:42.018Z,1628807442.018 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-12T22:30:42.018Z,1628807442.018 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-12T22:30:42.018Z,1628807442.018 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-12T22:30:42.458Z,1628807442.458 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-12T22:30:42.458Z,1628807442.458 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T22:30:42.458Z,1628807442.458 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-12T22:30:42.458Z,1628807442.458 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T22:30:42.458Z,1628807442.458 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-12T22:30:42.909Z,1628807442.909 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T22:30:42.909Z,1628807442.909 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T22:30:42.909Z,1628807442.909 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-12T22:30:42.909Z,1628807442.909 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-12T22:30:42.910Z,1628807442.910 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T22:30:42.911Z,1628807442.911 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T22:30:42.917Z,1628807442.917 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T22:30:42.917Z,1628807442.917 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-12T22:30:42.917Z,1628807442.917 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T22:30:42.918Z,1628807442.918 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-12T22:30:42.919Z,1628807442.919 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 551.219971 m 
2021-08-12T22:30:42.919Z,1628807442.919 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-12T22:30:42.919Z,1628807442.919 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-12T22:30:42.926Z,1628807442.926 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-12T22:30:42.927Z,1628807442.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-12T22:30:42.927Z,1628807442.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-12T22:30:42.927Z,1628807442.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-12T22:30:43.231Z,1628807443.231 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T22:30:43.232Z,1628807443.232 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T22:30:43.233Z,1628807443.233 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T22:30:43.234Z,1628807443.234 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T22:30:43.618Z,1628807443.618 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T22:30:43.619Z,1628807443.619 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T22:30:43.619Z,1628807443.619 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T22:30:43.625Z,1628807443.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T22:30:43.626Z,1628807443.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T22:30:43.627Z,1628807443.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T22:30:43.627Z,1628807443.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-12T22:30:43.627Z,1628807443.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-12T22:30:43.627Z,1628807443.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-12T22:30:43.627Z,1628807443.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-12T22:30:43.648Z,1628807443.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-12T22:30:43.648Z,1628807443.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-12T22:30:43.649Z,1628807443.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-12T22:30:43.649Z,1628807443.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-12T22:30:43.650Z,1628807443.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-12T22:30:43.661Z,1628807443.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:44.011Z,1628807444.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:44.011Z,1628807444.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:44.012Z,1628807444.012 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:44.013Z,1628807444.013 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:44.052Z,1628807444.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 551.219971 m, bearing: 251.962782 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T22:30:44.053Z,1628807444.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 251.962782deg and heading rate command to 0 deg/s.
2021-08-12T22:30:44.409Z,1628807444.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,02654,186,80,80,85,FF
2021-08-12T22:30:44.409Z,1628807444.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:44.409Z,1628807444.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:44.411Z,1628807444.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:44.932Z,1628807444.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:45.670Z,1628807445.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223045.93*56

2021-08-12T22:30:46.077Z,1628807446.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,0265F,186,80,80,92,FF
2021-08-12T22:30:46.077Z,1628807446.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:46.527Z,1628807446.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 551.879944 m, bearing: 249.524323 deg, deltaT: 5.239370 s, approachRate: 0.125964 m/s, LOS rate: -0.465411 deg/s, posRepo size: 2
2021-08-12T22:30:46.528Z,1628807446.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.465411 deg/s. Setting heading cmd to target bearing of 249.524323deg and heading rate command to 0 deg/s.
2021-08-12T22:30:48.951Z,1628807448.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:49.342Z,1628807449.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:49.342Z,1628807449.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:49.343Z,1628807449.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:49.344Z,1628807449.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:49.717Z,1628807449.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,0265F,186,80,80,92,FF
2021-08-12T22:30:49.717Z,1628807449.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:49.717Z,1628807449.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:49.719Z,1628807449.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:50.133Z,1628807450.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:50.966Z,1628807450.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223051.24*5F

2021-08-12T22:30:51.333Z,1628807451.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB7,000,02664,189,80,80,73,FF
2021-08-12T22:30:51.334Z,1628807451.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:51.781Z,1628807451.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 552.179993 m, bearing: 256.619250 deg, deltaT: 5.188009 s, approachRate: 0.057835 m/s, LOS rate: 1.367563 deg/s, posRepo size: 3
2021-08-12T22:30:51.783Z,1628807451.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 552.179993 m,
      bearing: 256.619250 deg,
      approachRate: 0.057835 m/s,
      LOS rate: 1.367563 deg/s,
      cmd update: 4.102688 deg/s,
      cmd heading: 249.524323 deg,
      new cmd heading: 249.524323 deg.

2021-08-12T22:30:54.201Z,1628807454.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:54.561Z,1628807454.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:54.561Z,1628807454.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:54.561Z,1628807454.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:54.562Z,1628807454.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:30:54.969Z,1628807454.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB7,000,02664,189,80,80,73,FF
2021-08-12T22:30:54.969Z,1628807454.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:30:54.969Z,1628807454.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:30:54.971Z,1628807454.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:30:55.450Z,1628807455.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:30:56.250Z,1628807456.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223056.50*5B

2021-08-12T22:30:56.661Z,1628807456.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,0264A,186,80,80,AC,FF
2021-08-12T22:30:56.662Z,1628807456.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:30:57.169Z,1628807457.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 550.619995 m, bearing: 250.733567 deg, deltaT: 5.438795 s, approachRate: -0.286828 m/s, LOS rate: -1.082167 deg/s, posRepo size: 4
2021-08-12T22:30:57.171Z,1628807457.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 550.619995 m,
      bearing: 250.733567 deg,
      approachRate: -0.286828 m/s,
      LOS rate: -1.082167 deg/s,
      cmd update: -3.246500 deg/s,
      cmd heading: 271.649779 deg,
      new cmd heading: 273.392338 deg.

2021-08-12T22:30:59.539Z,1628807459.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:30:59.897Z,1628807459.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:30:59.897Z,1628807459.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:30:59.897Z,1628807459.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:30:59.898Z,1628807459.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:00.309Z,1628807460.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,0264A,186,80,80,AC,FF
2021-08-12T22:31:00.309Z,1628807460.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:00.310Z,1628807460.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:00.311Z,1628807460.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:00.702Z,1628807460.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:01.543Z,1628807461.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223101.83*56

2021-08-12T22:31:01.929Z,1628807461.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0262B,186,80,80,7A,FF
2021-08-12T22:31:01.930Z,1628807461.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:02.365Z,1628807462.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 548.760010 m, bearing: 250.392467 deg, deltaT: 5.169632 s, approachRate: -0.359791 m/s, LOS rate: -0.065981 deg/s, posRepo size: 4
2021-08-12T22:31:02.367Z,1628807462.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 548.760010 m,
      bearing: 250.392467 deg,
      approachRate: -0.359791 m/s,
      LOS rate: -0.065981 deg/s,
      cmd update: -0.197944 deg/s,
      cmd heading: 254.715998 deg,
      new cmd heading: 253.403736 deg.

2021-08-12T22:31:02.819Z,1628807462.819 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:31:02.824Z,1628807462.824 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T22:31:02.824Z,1628807462.824 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T22:31:02.824Z,1628807462.824 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:31:02.825Z,1628807462.825 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T22:31:02.825Z,1628807462.825 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:31:02.826Z,1628807462.826 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-12T22:31:03.330Z,1628807463.330 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T22:31:03.330Z,1628807463.330 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T22:31:03.330Z,1628807463.330 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T22:31:03.330Z,1628807463.330 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:31:03.330Z,1628807463.330 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T22:31:04.480Z,1628807464.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:04.850Z,1628807464.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:04.850Z,1628807464.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:04.851Z,1628807464.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:04.852Z,1628807464.852 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:05.245Z,1628807465.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0262B,186,80,80,7A,FF
2021-08-12T22:31:05.245Z,1628807465.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:05.245Z,1628807465.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:05.247Z,1628807465.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:05.662Z,1628807465.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:06.488Z,1628807466.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223106.77*5A

2021-08-12T22:31:06.858Z,1628807466.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,02600,183,80,80,8D,FF
2021-08-12T22:31:06.859Z,1628807466.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:07.321Z,1628807467.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 546.179993 m, bearing: 250.790066 deg, deltaT: 4.973981 s, approachRate: -0.518703 m/s, LOS rate: 0.079936 deg/s, posRepo size: 4
2021-08-12T22:31:07.325Z,1628807467.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 546.179993 m,
      bearing: 250.790066 deg,
      approachRate: -0.518703 m/s,
      LOS rate: 0.079936 deg/s,
      cmd update: 0.239807 deg/s,
      cmd heading: 253.731425 deg,
      new cmd heading: 253.655019 deg.

2021-08-12T22:31:09.717Z,1628807469.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:10.089Z,1628807470.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:10.089Z,1628807470.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:10.089Z,1628807470.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:10.090Z,1628807470.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:10.489Z,1628807470.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,02600,183,80,80,8D,FF
2021-08-12T22:31:10.489Z,1628807470.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:10.490Z,1628807470.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:10.491Z,1628807470.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:10.914Z,1628807470.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:11.746Z,1628807471.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223112.01*5E

2021-08-12T22:31:12.109Z,1628807472.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,025E2,186,80,80,A4,FF
2021-08-12T22:31:12.109Z,1628807472.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:12.551Z,1628807472.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 544.380005 m, bearing: 248.159815 deg, deltaT: 5.196559 s, approachRate: -0.346381 m/s, LOS rate: -0.506153 deg/s, posRepo size: 4
2021-08-12T22:31:12.554Z,1628807472.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 544.380005 m,
      bearing: 248.159815 deg,
      approachRate: -0.346381 m/s,
      LOS rate: -0.506153 deg/s,
      cmd update: -1.518458 deg/s,
      cmd heading: 254.977591 deg,
      new cmd heading: 255.078523 deg.

2021-08-12T22:31:15.007Z,1628807475.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:15.346Z,1628807475.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:15.346Z,1628807475.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:15.347Z,1628807475.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:15.348Z,1628807475.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:15.767Z,1628807475.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,025E2,186,80,80,A4,FF
2021-08-12T22:31:15.767Z,1628807475.767 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:15.767Z,1628807475.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:15.769Z,1628807475.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:16.165Z,1628807476.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:16.970Z,1628807476.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223117.29*51

2021-08-12T22:31:17.798Z,1628807477.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:18.981Z,1628807478.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,07188,183,80,80,78,FF
2021-08-12T22:31:18.982Z,1628807478.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:19.419Z,1628807479.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1706.339966 m, bearing: 252.679925 deg, deltaT: 6.908694 s, approachRate: 168.188080 m/s, LOS rate: 0.654264 deg/s, posRepo size: 4
2021-08-12T22:31:19.421Z,1628807479.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1706.339966 m,
      bearing: 252.679925 deg,
      approachRate: 168.188080 m/s,
      LOS rate: 0.654264 deg/s,
      cmd update: 1.962792 deg/s,
      cmd heading: 244.517549 deg,
      new cmd heading: 243.910371 deg.

2021-08-12T22:31:21.911Z,1628807481.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:22.209Z,1628807482.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:22.209Z,1628807482.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:22.209Z,1628807482.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:22.210Z,1628807482.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:22.609Z,1628807482.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,07188,183,80,80,78,FF
2021-08-12T22:31:22.609Z,1628807482.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:22.609Z,1628807482.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:22.611Z,1628807482.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:23.040Z,1628807483.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:23.934Z,1628807483.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,02578,187,80,80,88,FF
2021-08-12T22:31:23.934Z,1628807483.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:23.938Z,1628807483.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223124.13*58

2021-08-12T22:31:24.332Z,1628807484.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 538.019958 m, bearing: 254.101561 deg, deltaT: 4.970722 s, approachRate: -235.040314 m/s, LOS rate: 0.286002 deg/s, posRepo size: 4
2021-08-12T22:31:24.334Z,1628807484.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 538.019958 m,
      bearing: 254.101561 deg,
      approachRate: -235.040314 m/s,
      LOS rate: 0.286002 deg/s,
      cmd update: 0.858005 deg/s,
      cmd heading: 254.240925 deg,
      new cmd heading: 254.929331 deg.

2021-08-12T22:31:26.858Z,1628807486.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:27.113Z,1628807487.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:27.114Z,1628807487.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:27.114Z,1628807487.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:27.115Z,1628807487.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:27.509Z,1628807487.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,02578,187,80,80,88,FF
2021-08-12T22:31:27.509Z,1628807487.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:27.509Z,1628807487.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:27.511Z,1628807487.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:27.994Z,1628807487.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:28.845Z,1628807488.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,02549,186,80,80,A6,FF
2021-08-12T22:31:28.845Z,1628807488.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:28.859Z,1628807488.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223129.04*53

2021-08-12T22:31:29.335Z,1628807489.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 535.200012 m, bearing: 248.264180 deg, deltaT: 4.966821 s, approachRate: -0.567757 m/s, LOS rate: -1.175275 deg/s, posRepo size: 4
2021-08-12T22:31:29.349Z,1628807489.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 535.200012 m,
      bearing: 248.264180 deg,
      approachRate: -0.567757 m/s,
      LOS rate: -1.175275 deg/s,
      cmd update: -3.525825 deg/s,
      cmd heading: 258.527048 deg,
      new cmd heading: 258.825478 deg.

2021-08-12T22:31:31.782Z,1628807491.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:32.105Z,1628807492.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:32.105Z,1628807492.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:32.105Z,1628807492.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:32.106Z,1628807492.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:32.518Z,1628807492.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,02549,186,80,80,A6,FF
2021-08-12T22:31:32.518Z,1628807492.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:32.519Z,1628807492.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:32.521Z,1628807492.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:33.058Z,1628807493.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:33.892Z,1628807493.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,0251B,186,80,80,94,FF
2021-08-12T22:31:33.892Z,1628807493.892 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:33.895Z,1628807493.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223134.05*5E

2021-08-12T22:31:34.333Z,1628807494.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 532.440002 m, bearing: 246.757960 deg, deltaT: 5.001493 s, approachRate: -0.551837 m/s, LOS rate: -0.301154 deg/s, posRepo size: 4
2021-08-12T22:31:34.335Z,1628807494.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 532.440002 m,
      bearing: 246.757960 deg,
      approachRate: -0.551837 m/s,
      LOS rate: -0.301154 deg/s,
      cmd update: -0.903463 deg/s,
      cmd heading: 240.906054 deg,
      new cmd heading: 239.626596 deg.

2021-08-12T22:31:36.725Z,1628807496.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:37.101Z,1628807497.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:37.101Z,1628807497.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:37.101Z,1628807497.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:37.102Z,1628807497.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:37.493Z,1628807497.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,0251B,186,80,80,94,FF
2021-08-12T22:31:37.493Z,1628807497.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:37.493Z,1628807497.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:37.495Z,1628807497.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:37.926Z,1628807497.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:38.762Z,1628807498.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223139.02*54

2021-08-12T22:31:39.114Z,1628807499.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,024F2,186,80,80,8C,FF
2021-08-12T22:31:39.114Z,1628807499.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:39.557Z,1628807499.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 529.979980 m, bearing: 245.206032 deg, deltaT: 5.211085 s, approachRate: -0.472075 m/s, LOS rate: -0.297813 deg/s, posRepo size: 4
2021-08-12T22:31:39.559Z,1628807499.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 529.979980 m,
      bearing: 245.206032 deg,
      approachRate: -0.472075 m/s,
      LOS rate: -0.297813 deg/s,
      cmd update: -0.893439 deg/s,
      cmd heading: 236.219207 deg,
      new cmd heading: 235.855347 deg.

2021-08-12T22:31:41.971Z,1628807501.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:42.349Z,1628807502.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:42.349Z,1628807502.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:42.349Z,1628807502.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:42.350Z,1628807502.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:42.758Z,1628807502.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,024F2,186,80,80,8C,FF
2021-08-12T22:31:42.758Z,1628807502.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:42.759Z,1628807502.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:42.779Z,1628807502.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:43.157Z,1628807503.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:43.985Z,1628807503.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223144.30*5F

2021-08-12T22:31:44.354Z,1628807504.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,024C6,188,80,80,88,FF
2021-08-12T22:31:44.354Z,1628807504.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:44.921Z,1628807504.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 527.339966 m, bearing: 251.047564 deg, deltaT: 5.215373 s, approachRate: -0.506199 m/s, LOS rate: 1.120060 deg/s, posRepo size: 4
2021-08-12T22:31:44.923Z,1628807504.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 527.339966 m,
      bearing: 251.047564 deg,
      approachRate: -0.506199 m/s,
      LOS rate: 1.120060 deg/s,
      cmd update: 3.360181 deg/s,
      cmd heading: 231.535902 deg,
      new cmd heading: 231.066908 deg.

2021-08-12T22:31:47.205Z,1628807507.205 [PowerOnly](INFO): Powering down loadControl
2021-08-12T22:31:47.255Z,1628807507.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:47.589Z,1628807507.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:47.589Z,1628807507.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:47.589Z,1628807507.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:47.590Z,1628807507.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:48.010Z,1628807508.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,024C6,188,80,80,88,FF
2021-08-12T22:31:48.010Z,1628807508.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:48.011Z,1628807508.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:48.037Z,1628807508.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:48.410Z,1628807508.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:49.234Z,1628807509.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223149.56*52

2021-08-12T22:31:49.618Z,1628807509.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,02499,18A,80,80,A6,FF
2021-08-12T22:31:49.618Z,1628807509.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:50.063Z,1628807510.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 524.640015 m, bearing: 247.366038 deg, deltaT: 5.276375 s, approachRate: -0.511706 m/s, LOS rate: -0.697738 deg/s, posRepo size: 4
2021-08-12T22:31:50.065Z,1628807510.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 524.640015 m,
      bearing: 247.366038 deg,
      approachRate: -0.511706 m/s,
      LOS rate: -0.697738 deg/s,
      cmd update: -2.093213 deg/s,
      cmd heading: 249.258747 deg,
      new cmd heading: 250.578125 deg.

2021-08-12T22:31:52.463Z,1628807512.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:52.846Z,1628807512.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:52.846Z,1628807512.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:52.846Z,1628807512.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:52.848Z,1628807512.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:53.249Z,1628807513.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,02499,18A,80,80,A6,FF
2021-08-12T22:31:53.249Z,1628807513.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:53.250Z,1628807513.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:53.251Z,1628807513.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:53.667Z,1628807513.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:54.503Z,1628807514.503 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223154.78*52

2021-08-12T22:31:54.874Z,1628807514.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,0247A,185,80,80,97,FF
2021-08-12T22:31:54.875Z,1628807514.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:55.356Z,1628807515.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 522.779968 m, bearing: 251.735802 deg, deltaT: 5.253345 s, approachRate: -0.354069 m/s, LOS rate: 0.831806 deg/s, posRepo size: 4
2021-08-12T22:31:55.358Z,1628807515.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 522.779968 m,
      bearing: 251.735802 deg,
      approachRate: -0.354069 m/s,
      LOS rate: 0.831806 deg/s,
      cmd update: 2.495418 deg/s,
      cmd heading: 238.239160 deg,
      new cmd heading: 237.365028 deg.

2021-08-12T22:31:57.734Z,1628807517.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:31:58.097Z,1628807518.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:31:58.097Z,1628807518.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:31:58.098Z,1628807518.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:31:58.099Z,1628807518.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:31:58.506Z,1628807518.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,0247A,185,80,80,97,FF
2021-08-12T22:31:58.506Z,1628807518.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:31:58.506Z,1628807518.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:31:58.507Z,1628807518.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:31:58.985Z,1628807518.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:31:59.769Z,1628807519.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,0247A,185,80,80,97,FF
2021-08-12T22:31:59.770Z,1628807519.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:31:59.774Z,1628807519.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223200.03*5C

2021-08-12T22:32:00.230Z,1628807520.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 522.779968 m, bearing: 253.610798 deg, deltaT: 4.904669 s, approachRate: 0.000000 m/s, LOS rate: 0.382288 deg/s, posRepo size: 4
2021-08-12T22:32:00.231Z,1628807520.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 522.779968 m,
      bearing: 253.610798 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.382288 deg/s,
      cmd update: 1.146864 deg/s,
      cmd heading: 250.465862 deg,
      new cmd heading: 251.452570 deg.

2021-08-12T22:32:02.660Z,1628807522.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:03.005Z,1628807523.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:03.005Z,1628807523.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:03.005Z,1628807523.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:03.006Z,1628807523.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:03.415Z,1628807523.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,0247A,185,80,80,97,FF
2021-08-12T22:32:03.416Z,1628807523.416 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:03.417Z,1628807523.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:03.420Z,1628807523.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:03.835Z,1628807523.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:04.666Z,1628807524.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223204.95*57

2021-08-12T22:32:05.047Z,1628807525.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,02420,186,80,80,A9,FF
2021-08-12T22:32:05.047Z,1628807525.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:05.484Z,1628807525.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 517.379944 m, bearing: 250.722557 deg, deltaT: 5.352188 s, approachRate: -1.008938 m/s, LOS rate: -0.539637 deg/s, posRepo size: 4
2021-08-12T22:32:05.486Z,1628807525.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.379944 m,
      bearing: 250.722557 deg,
      approachRate: -1.008938 m/s,
      LOS rate: -0.539637 deg/s,
      cmd update: -1.618912 deg/s,
      cmd heading: 256.600283 deg,
      new cmd heading: 256.945495 deg.

2021-08-12T22:32:07.932Z,1628807527.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:08.289Z,1628807528.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:08.289Z,1628807528.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:08.289Z,1628807528.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:08.290Z,1628807528.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:08.705Z,1628807528.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,02420,186,80,80,A9,FF
2021-08-12T22:32:08.706Z,1628807528.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:08.706Z,1628807528.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:08.709Z,1628807528.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:09.101Z,1628807529.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:09.970Z,1628807529.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,02420,186,80,80,A9,FF
2021-08-12T22:32:09.970Z,1628807529.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:09.975Z,1628807529.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223210.23*5F

2021-08-12T22:32:10.395Z,1628807530.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 517.379944 m, bearing: 249.214560 deg, deltaT: 4.852943 s, approachRate: 0.000000 m/s, LOS rate: -0.310739 deg/s, posRepo size: 4
2021-08-12T22:32:10.398Z,1628807530.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.379944 m,
      bearing: 249.214560 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.310739 deg/s,
      cmd update: -0.932216 deg/s,
      cmd heading: 248.737132 deg,
      new cmd heading: 248.161696 deg.

2021-08-12T22:32:12.896Z,1628807532.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:13.202Z,1628807533.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:13.202Z,1628807533.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:13.203Z,1628807533.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:13.204Z,1628807533.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:13.589Z,1628807533.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,02420,186,80,80,A9,FF
2021-08-12T22:32:13.589Z,1628807533.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:13.590Z,1628807533.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:13.591Z,1628807533.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:14.008Z,1628807534.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:14.837Z,1628807534.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223215.12*58

2021-08-12T22:32:15.209Z,1628807535.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,023C6,187,80,80,79,FF
2021-08-12T22:32:15.210Z,1628807535.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:15.678Z,1628807535.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 511.980011 m, bearing: 249.933752 deg, deltaT: 5.224746 s, approachRate: -1.033530 m/s, LOS rate: 0.137651 deg/s, posRepo size: 4
2021-08-12T22:32:15.681Z,1628807535.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 511.980011 m,
      bearing: 249.933752 deg,
      approachRate: -1.033530 m/s,
      LOS rate: 0.137651 deg/s,
      cmd update: 0.412953 deg/s,
      cmd heading: 243.870281 deg,
      new cmd heading: 243.482457 deg.

2021-08-12T22:32:18.082Z,1628807538.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:18.437Z,1628807538.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:18.437Z,1628807538.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:18.437Z,1628807538.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:18.438Z,1628807538.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:18.842Z,1628807538.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,023C6,187,80,80,79,FF
2021-08-12T22:32:18.842Z,1628807538.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:18.842Z,1628807538.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:18.845Z,1628807538.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:19.280Z,1628807539.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:20.091Z,1628807540.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223220.37*59

2021-08-12T22:32:20.457Z,1628807540.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,02399,186,80,80,A4,FF
2021-08-12T22:32:20.457Z,1628807540.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:20.934Z,1628807540.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 509.279999 m, bearing: 246.745775 deg, deltaT: 5.216047 s, approachRate: -0.517636 m/s, LOS rate: -0.611186 deg/s, posRepo size: 4
2021-08-12T22:32:20.942Z,1628807540.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 509.279999 m,
      bearing: 246.745775 deg,
      approachRate: -0.517636 m/s,
      LOS rate: -0.611186 deg/s,
      cmd update: -1.833559 deg/s,
      cmd heading: 246.027559 deg,
      new cmd heading: 246.213066 deg.

2021-08-12T22:32:23.341Z,1628807543.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:23.693Z,1628807543.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:23.693Z,1628807543.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:23.693Z,1628807543.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:23.694Z,1628807543.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:24.095Z,1628807544.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,02399,186,80,80,A4,FF
2021-08-12T22:32:24.095Z,1628807544.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:24.112Z,1628807544.112 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:24.122Z,1628807544.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:24.509Z,1628807544.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:25.311Z,1628807545.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223225.65*5B

2021-08-12T22:32:25.709Z,1628807545.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,02373,186,80,80,77,FF
2021-08-12T22:32:25.709Z,1628807545.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:26.151Z,1628807546.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 507.000000 m, bearing: 252.695662 deg, deltaT: 5.241750 s, approachRate: -0.434969 m/s, LOS rate: 1.135096 deg/s, posRepo size: 4
2021-08-12T22:32:26.154Z,1628807546.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 507.000000 m,
      bearing: 252.695662 deg,
      approachRate: -0.434969 m/s,
      LOS rate: 1.135096 deg/s,
      cmd update: 3.405287 deg/s,
      cmd heading: 236.416144 deg,
      new cmd heading: 235.637408 deg.

2021-08-12T22:32:28.561Z,1628807548.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:28.941Z,1628807548.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:28.941Z,1628807548.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:28.941Z,1628807548.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:28.942Z,1628807548.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:29.345Z,1628807549.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,02373,186,80,80,77,FF
2021-08-12T22:32:29.345Z,1628807549.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:29.345Z,1628807549.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:29.347Z,1628807549.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:29.752Z,1628807549.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:30.189Z,1628807550.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00666,187,80,80,38,FF
2021-08-12T22:32:30.189Z,1628807550.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:30.597Z,1628807550.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223230.87*53

2021-08-12T22:32:30.644Z,1628807550.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 252.838686 deg, deltaT: 4.582547 s, approachRate: -97.373795 m/s, LOS rate: 0.031211 deg/s, posRepo size: 4
2021-08-12T22:32:30.646Z,1628807550.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 252.838686 deg,
      approachRate: -97.373795 m/s,
      LOS rate: 0.031211 deg/s,
      cmd update: 0.093632 deg/s,
      cmd heading: 251.983829 deg,
      new cmd heading: 253.078359 deg.

2021-08-12T22:32:33.058Z,1628807553.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:33.394Z,1628807553.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:33.394Z,1628807553.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:33.395Z,1628807553.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:33.395Z,1628807553.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:33.789Z,1628807553.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00666,187,80,80,38,FF
2021-08-12T22:32:33.789Z,1628807553.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:33.789Z,1628807553.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:33.791Z,1628807553.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:34.211Z,1628807554.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:35.029Z,1628807555.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00666,187,80,80,38,FF
2021-08-12T22:32:35.030Z,1628807555.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:35.033Z,1628807555.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223235.31*5B

2021-08-12T22:32:35.464Z,1628807555.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 253.173229 deg, deltaT: 4.798410 s, approachRate: 0.000000 m/s, LOS rate: 0.069719 deg/s, posRepo size: 4
2021-08-12T22:32:35.466Z,1628807555.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.780006 m,
      bearing: 253.173229 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.069719 deg/s,
      cmd update: 0.209158 deg/s,
      cmd heading: 252.433378 deg,
      new cmd heading: 252.467500 deg.

2021-08-12T22:32:37.889Z,1628807557.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:38.237Z,1628807558.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:38.237Z,1628807558.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:38.237Z,1628807558.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:38.238Z,1628807558.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:38.645Z,1628807558.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00666,187,80,80,38,FF
2021-08-12T22:32:38.645Z,1628807558.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:38.645Z,1628807558.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:38.647Z,1628807558.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:39.045Z,1628807559.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:39.875Z,1628807559.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223240.17*5D

2021-08-12T22:32:40.254Z,1628807560.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F,FF
0,00666,187,80,80,38,FF
2021-08-12T22:32:40.254Z,1628807560.254 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,4F,FF
0,00666,187,80,80,38,FF
2021-08-12T22:32:40.696Z,1628807560.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:43.537Z,1628807563.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:44.320Z,1628807564.320 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.081728
2021-08-12T22:32:46.370Z,1628807566.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:46.726Z,1628807566.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:46.726Z,1628807566.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:46.727Z,1628807566.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:46.728Z,1628807566.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:47.121Z,1628807567.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F,FF
0,00666,187,80,80,38,FF
2021-08-12T22:32:47.121Z,1628807567.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:47.121Z,1628807567.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:47.123Z,1628807567.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:47.533Z,1628807567.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:48.369Z,1628807568.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,022A9,187,80,80,38,FF
2021-08-12T22:32:48.370Z,1628807568.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:48.394Z,1628807568.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223248.65*50

2021-08-12T22:32:48.821Z,1628807568.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 494.880005 m, bearing: 250.767855 deg, deltaT: 13.339471 s, approachRate: 32.542519 m/s, LOS rate: -0.180320 deg/s, posRepo size: 4
2021-08-12T22:32:48.823Z,1628807568.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 494.880005 m,
      bearing: 250.767855 deg,
      approachRate: 32.542519 m/s,
      LOS rate: -0.180320 deg/s,
      cmd update: -0.540960 deg/s,
      cmd heading: 255.224300 deg,
      new cmd heading: 255.303186 deg.

2021-08-12T22:32:51.215Z,1628807571.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:51.561Z,1628807571.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:51.561Z,1628807571.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:51.561Z,1628807571.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:51.562Z,1628807571.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:51.970Z,1628807571.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,022A9,187,80,80,38,FF
2021-08-12T22:32:51.971Z,1628807571.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:51.971Z,1628807571.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:51.973Z,1628807571.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:52.381Z,1628807572.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:53.210Z,1628807573.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223253.50*5C

2021-08-12T22:32:54.022Z,1628807574.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:55.605Z,1628807575.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,38,FF
2021-08-12T22:32:55.605Z,1628807575.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,38,FF
2021-08-12T22:32:55.605Z,1628807575.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:32:56.890Z,1628807576.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:32:57.214Z,1628807577.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:32:57.214Z,1628807577.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:32:57.214Z,1628807577.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:32:57.215Z,1628807577.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:32:57.625Z,1628807577.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,38,FF
2021-08-12T22:32:57.625Z,1628807577.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:32:57.625Z,1628807577.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:32:57.627Z,1628807577.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:32:58.032Z,1628807578.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:32:58.870Z,1628807578.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,02236,184,80,80,38,FF
2021-08-12T22:32:58.871Z,1628807578.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:32:58.876Z,1628807578.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223259.15*57

2021-08-12T22:32:59.324Z,1628807579.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 487.980011 m, bearing: 254.462468 deg, deltaT: 10.508770 s, approachRate: -0.656594 m/s, LOS rate: 0.351574 deg/s, posRepo size: 4
2021-08-12T22:32:59.326Z,1628807579.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 487.980011 m,
      bearing: 254.462468 deg,
      approachRate: -0.656594 m/s,
      LOS rate: 0.351574 deg/s,
      cmd update: 1.054723 deg/s,
      cmd heading: 249.541579 deg,
      new cmd heading: 249.340575 deg.

2021-08-12T22:33:01.679Z,1628807581.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:02.085Z,1628807582.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:02.085Z,1628807582.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:02.085Z,1628807582.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:02.086Z,1628807582.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:02.478Z,1628807582.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,02236,184,80,80,38,FF
2021-08-12T22:33:02.478Z,1628807582.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:02.479Z,1628807582.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:02.480Z,1628807582.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:02.901Z,1628807582.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:03.291Z,1628807583.291 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:33:03.718Z,1628807583.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,02201,184,80,80,38,FF
2021-08-12T22:33:03.718Z,1628807583.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:03.722Z,1628807583.722 [Micromodem](INFO): Nmea in: $SNTTA,,0.032120,,,223304.00*46

2021-08-12T22:33:04.130Z,1628807584.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 484.799988 m, bearing: 254.361682 deg, deltaT: 4.813365 s, approachRate: -0.660665 m/s, LOS rate: -0.020939 deg/s, posRepo size: 4
2021-08-12T22:33:04.139Z,1628807584.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 484.799988 m,
      bearing: 254.361682 deg,
      approachRate: -0.660665 m/s,
      LOS rate: -0.020939 deg/s,
      cmd update: -0.062817 deg/s,
      cmd heading: 254.617033 deg,
      new cmd heading: 255.005219 deg.

2021-08-12T22:33:06.567Z,1628807586.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:06.953Z,1628807586.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:06.953Z,1628807586.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:06.953Z,1628807586.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:06.954Z,1628807586.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:07.369Z,1628807587.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,02201,184,80,80,38,FF
2021-08-12T22:33:07.369Z,1628807587.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:07.369Z,1628807587.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:07.371Z,1628807587.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:07.780Z,1628807587.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:08.605Z,1628807588.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,021C8,184,80,80,38,FF
2021-08-12T22:33:08.606Z,1628807588.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:08.610Z,1628807588.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223308.89*57

2021-08-12T22:33:09.033Z,1628807589.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 481.379974 m, bearing: 252.805109 deg, deltaT: 4.892023 s, approachRate: -0.699100 m/s, LOS rate: -0.318186 deg/s, posRepo size: 4
2021-08-12T22:33:09.035Z,1628807589.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 481.379974 m,
      bearing: 252.805109 deg,
      approachRate: -0.699100 m/s,
      LOS rate: -0.318186 deg/s,
      cmd update: -0.954558 deg/s,
      cmd heading: 254.309716 deg,
      new cmd heading: 254.285834 deg.

2021-08-12T22:33:09.273Z,1628807589.273 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259502
2021-08-12T22:33:11.433Z,1628807591.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:11.821Z,1628807591.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:11.821Z,1628807591.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:11.821Z,1628807591.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:11.822Z,1628807591.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:12.217Z,1628807592.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,021C8,184,80,80,38,FF
2021-08-12T22:33:12.217Z,1628807592.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:12.217Z,1628807592.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:12.219Z,1628807592.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:12.708Z,1628807592.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:13.513Z,1628807593.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,02191,185,80,80,5F,FF
2021-08-12T22:33:13.513Z,1628807593.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:13.516Z,1628807593.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223313.74*5F

2021-08-12T22:33:13.963Z,1628807593.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 478.079987 m, bearing: 245.227833 deg, deltaT: 4.930070 s, approachRate: -0.669359 m/s, LOS rate: -1.536951 deg/s, posRepo size: 4
2021-08-12T22:33:13.966Z,1628807593.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 478.079987 m,
      bearing: 245.227833 deg,
      approachRate: -0.669359 m/s,
      LOS rate: -1.536951 deg/s,
      cmd update: -4.610852 deg/s,
      cmd heading: 249.599086 deg,
      new cmd heading: 249.240129 deg.

2021-08-12T22:33:16.387Z,1628807596.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:16.751Z,1628807596.751 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:16.751Z,1628807596.751 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:16.752Z,1628807596.752 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:16.754Z,1628807596.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:17.169Z,1628807597.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,02191,185,80,80,5F,FF
2021-08-12T22:33:17.169Z,1628807597.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:17.170Z,1628807597.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:17.180Z,1628807597.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:17.592Z,1628807597.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:18.437Z,1628807598.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,0215C,184,80,80,4F,FF
2021-08-12T22:33:18.437Z,1628807598.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:18.440Z,1628807598.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223318.70*50

2021-08-12T22:33:18.891Z,1628807598.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 474.899994 m, bearing: 245.187481 deg, deltaT: 4.914656 s, approachRate: -0.647043 m/s, LOS rate: -0.008211 deg/s, posRepo size: 4
2021-08-12T22:33:18.893Z,1628807598.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 474.899994 m,
      bearing: 245.187481 deg,
      approachRate: -0.647043 m/s,
      LOS rate: -0.008211 deg/s,
      cmd update: -0.024632 deg/s,
      cmd heading: 226.938153 deg,
      new cmd heading: 225.146749 deg.

2021-08-12T22:33:21.269Z,1628807601.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:21.629Z,1628807601.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:21.629Z,1628807601.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:21.629Z,1628807601.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:21.630Z,1628807601.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:22.022Z,1628807602.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,0215C,184,80,80,4F,FF
2021-08-12T22:33:22.022Z,1628807602.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:22.022Z,1628807602.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:22.023Z,1628807602.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:22.492Z,1628807602.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:23.292Z,1628807603.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,02125,189,80,80,65,FF
2021-08-12T22:33:23.293Z,1628807603.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:23.296Z,1628807603.296 [Micromodem](INFO): Nmea in: $SNTTA,,0.305288,,,223323.55*45

2021-08-12T22:33:23.728Z,1628807603.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 471.599976 m, bearing: 256.587968 deg, deltaT: 4.820928 s, approachRate: -0.684519 m/s, LOS rate: 2.364791 deg/s, posRepo size: 4
2021-08-12T22:33:23.730Z,1628807603.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 471.599976 m,
      bearing: 256.587968 deg,
      approachRate: -0.684519 m/s,
      LOS rate: 2.364791 deg/s,
      cmd update: 7.094373 deg/s,
      cmd heading: 226.819305 deg,
      new cmd heading: 226.809535 deg.

2021-08-12T22:33:26.174Z,1628807606.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:26.513Z,1628807606.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:26.514Z,1628807606.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:26.514Z,1628807606.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:26.515Z,1628807606.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:26.921Z,1628807606.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,02125,189,80,80,65,FF
2021-08-12T22:33:26.921Z,1628807606.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:26.921Z,1628807606.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:26.923Z,1628807606.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:27.339Z,1628807607.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:28.157Z,1628807608.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,020F4,189,80,80,65,FF
2021-08-12T22:33:28.158Z,1628807608.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:28.179Z,1628807608.179 [Micromodem](INFO): Nmea in: $SNTTA,0.313412,0.314106,,,223328.45*52

2021-08-12T22:33:28.563Z,1628807608.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 468.660004 m, bearing: 198.425970 deg, deltaT: 4.915735 s, approachRate: -0.598074 m/s, LOS rate: -11.831801 deg/s, posRepo size: 4
2021-08-12T22:33:28.564Z,1628807608.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.831801 deg/s. Setting heading cmd to target bearing of 198.425970deg and heading rate command to 0 deg/s.
2021-08-12T22:33:31.007Z,1628807611.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:31.373Z,1628807611.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:31.373Z,1628807611.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:31.373Z,1628807611.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:31.374Z,1628807611.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:31.769Z,1628807611.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,020F4,189,80,80,65,FF
2021-08-12T22:33:31.769Z,1628807611.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:31.770Z,1628807611.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:31.771Z,1628807611.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:32.208Z,1628807612.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:32.993Z,1628807612.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,01869,186,80,80,69,FF
2021-08-12T22:33:32.993Z,1628807612.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:32.997Z,1628807612.997 [Micromodem](INFO): Nmea in: $SNTTA,0.226517,0.387513,,,223333.30*53

2021-08-12T22:33:33.426Z,1628807613.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.440002 m, bearing: 255.576799 deg, deltaT: 4.825157 s, approachRate: -27.194971 m/s, LOS rate: 11.844346 deg/s, posRepo size: 4
2021-08-12T22:33:33.426Z,1628807613.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.844346 deg/s. Setting heading cmd to target bearing of 255.576799deg and heading rate command to 0 deg/s.
2021-08-12T22:33:35.819Z,1628807615.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:36.230Z,1628807616.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:36.230Z,1628807616.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:36.231Z,1628807616.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:36.232Z,1628807616.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:36.452Z,1628807616.452 [Radio_Surface](INFO): Powering down
2021-08-12T22:33:36.615Z,1628807616.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,01869,186,80,80,69,FF
2021-08-12T22:33:36.615Z,1628807616.615 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:36.615Z,1628807616.615 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:36.618Z,1628807616.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:37.037Z,1628807617.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:37.867Z,1628807617.867 [Micromodem](INFO): Nmea in: $SNTTA,,0.283419,,,223338.14*4B

2021-08-12T22:33:38.671Z,1628807618.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:40.250Z,1628807620.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,69,FF
2021-08-12T22:33:40.251Z,1628807620.251 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,69,FF
2021-08-12T22:33:40.251Z,1628807620.251 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:33:41.498Z,1628807621.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:41.858Z,1628807621.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:41.858Z,1628807621.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:41.859Z,1628807621.859 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:41.859Z,1628807621.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:42.278Z,1628807622.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,69,FF
2021-08-12T22:33:42.278Z,1628807622.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:42.278Z,1628807622.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:42.279Z,1628807622.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:42.679Z,1628807622.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:43.082Z,1628807623.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00C40,185,80,80,69,FF
2021-08-12T22:33:43.082Z,1628807623.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:43.538Z,1628807623.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223343.80*51

2021-08-12T22:33:43.575Z,1628807623.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.660004 m, bearing: 253.104162 deg, deltaT: 10.113478 s, approachRate: -18.468424 m/s, LOS rate: -0.244489 deg/s, posRepo size: 4
2021-08-12T22:33:43.578Z,1628807623.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.660004 m,
      bearing: 253.104162 deg,
      approachRate: -18.468424 m/s,
      LOS rate: -0.244489 deg/s,
      cmd update: -0.733468 deg/s,
      cmd heading: 255.576799 deg,
      new cmd heading: 255.576799 deg.

2021-08-12T22:33:45.421Z,1628807625.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T22:33:45.972Z,1628807625.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:46.323Z,1628807626.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:46.323Z,1628807626.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:46.324Z,1628807626.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:46.325Z,1628807626.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:46.425Z,1628807626.425 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-12T22:33:46.717Z,1628807626.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00C40,185,80,80,69,FF
2021-08-12T22:33:46.717Z,1628807626.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:46.718Z,1628807626.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:46.739Z,1628807626.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:47.139Z,1628807627.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:47.940Z,1628807627.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFD,000,0201F,183,80,80,69,FF
2021-08-12T22:33:47.941Z,1628807627.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:47.949Z,1628807627.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223348.27*57

2021-08-12T22:33:48.406Z,1628807628.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 455.880005 m, bearing: 249.513695 deg, deltaT: 4.805388 s, approachRate: 63.516205 m/s, LOS rate: -0.747175 deg/s, posRepo size: 4
2021-08-12T22:33:48.414Z,1628807628.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.880005 m,
      bearing: 249.513695 deg,
      approachRate: 63.516205 m/s,
      LOS rate: -0.747175 deg/s,
      cmd update: -2.241526 deg/s,
      cmd heading: 252.052223 deg,
      new cmd heading: 251.745668 deg.

2021-08-12T22:33:50.903Z,1628807630.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:51.177Z,1628807631.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:51.177Z,1628807631.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:51.177Z,1628807631.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:51.178Z,1628807631.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:51.570Z,1628807631.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,0201F,183,80,80,69,FF
2021-08-12T22:33:51.570Z,1628807631.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:51.570Z,1628807631.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:51.571Z,1628807631.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:51.980Z,1628807631.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:52.829Z,1628807632.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01FE1,182,80,80,6F,FF
2021-08-12T22:33:52.830Z,1628807632.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:33:52.833Z,1628807632.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223353.10*59

2021-08-12T22:33:53.269Z,1628807633.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 452.160004 m, bearing: 248.241613 deg, deltaT: 4.931805 s, approachRate: -0.754288 m/s, LOS rate: -0.257934 deg/s, posRepo size: 4
2021-08-12T22:33:53.277Z,1628807633.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.160004 m,
      bearing: 248.241613 deg,
      approachRate: -0.754288 m/s,
      LOS rate: -0.257934 deg/s,
      cmd update: -0.773803 deg/s,
      cmd heading: 240.997478 deg,
      new cmd heading: 240.214045 deg.

2021-08-12T22:33:55.622Z,1628807635.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:33:56.021Z,1628807636.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:33:56.022Z,1628807636.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:33:56.022Z,1628807636.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:33:56.023Z,1628807636.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:33:56.413Z,1628807636.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01FE1,182,80,80,6F,FF
2021-08-12T22:33:56.413Z,1628807636.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:33:56.414Z,1628807636.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:33:56.415Z,1628807636.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:33:56.867Z,1628807636.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:33:57.666Z,1628807637.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223357.94*51

2021-08-12T22:33:58.528Z,1628807638.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:00.077Z,1628807640.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,182,80,80,6F,FF
2021-08-12T22:34:00.078Z,1628807640.078 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,182,80,80,6F,FF
2021-08-12T22:34:00.078Z,1628807640.078 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:34:01.322Z,1628807641.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:01.682Z,1628807641.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:01.683Z,1628807641.683 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:01.683Z,1628807641.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:01.684Z,1628807641.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:02.093Z,1628807642.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,182,80,80,6F,FF
2021-08-12T22:34:02.093Z,1628807642.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:02.093Z,1628807642.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:02.095Z,1628807642.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:02.497Z,1628807642.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:03.341Z,1628807643.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,01F66,187,80,80,67,FF
2021-08-12T22:34:03.341Z,1628807643.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:03.344Z,1628807643.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223403.62*5E

2021-08-12T22:34:03.744Z,1628807643.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 444.779999 m, bearing: 245.669091 deg, deltaT: 10.492265 s, approachRate: -0.703376 m/s, LOS rate: -0.245183 deg/s, posRepo size: 4
2021-08-12T22:34:03.746Z,1628807643.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 444.779999 m,
      bearing: 245.669091 deg,
      approachRate: -0.703376 m/s,
      LOS rate: -0.245183 deg/s,
      cmd update: -0.735548 deg/s,
      cmd heading: 232.878561 deg,
      new cmd heading: 232.617494 deg.

2021-08-12T22:34:06.221Z,1628807646.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:06.530Z,1628807646.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:06.530Z,1628807646.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:06.531Z,1628807646.531 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:06.532Z,1628807646.532 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:06.949Z,1628807646.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,01F66,187,80,80,67,FF
2021-08-12T22:34:06.949Z,1628807646.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:06.949Z,1628807646.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:06.951Z,1628807646.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:07.364Z,1628807647.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:08.209Z,1628807648.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,01F32,186,80,80,46,FF
2021-08-12T22:34:08.209Z,1628807648.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:08.213Z,1628807648.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223408.47*52

2021-08-12T22:34:08.592Z,1628807648.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 441.660004 m, bearing: 249.447743 deg, deltaT: 4.851878 s, approachRate: -0.643049 m/s, LOS rate: 0.778802 deg/s, posRepo size: 4
2021-08-12T22:34:08.594Z,1628807648.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 441.660004 m,
      bearing: 249.447743 deg,
      approachRate: -0.643049 m/s,
      LOS rate: 0.778802 deg/s,
      cmd update: 2.336406 deg/s,
      cmd heading: 229.309867 deg,
      new cmd heading: 229.064996 deg.

2021-08-12T22:34:11.028Z,1628807651.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:11.382Z,1628807651.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:11.382Z,1628807651.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:11.383Z,1628807651.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:11.384Z,1628807651.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:11.794Z,1628807651.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,01F32,186,80,80,46,FF
2021-08-12T22:34:11.794Z,1628807651.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:11.794Z,1628807651.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:11.796Z,1628807651.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:12.228Z,1628807652.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:13.029Z,1628807653.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,01EF2,186,80,80,51,FF
2021-08-12T22:34:13.029Z,1628807653.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:13.032Z,1628807653.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223413.32*5A

2021-08-12T22:34:13.450Z,1628807653.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 437.819977 m, bearing: 252.414859 deg, deltaT: 4.855643 s, approachRate: -0.790838 m/s, LOS rate: 0.611066 deg/s, posRepo size: 4
2021-08-12T22:34:13.453Z,1628807653.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 437.819977 m,
      bearing: 252.414859 deg,
      approachRate: -0.790838 m/s,
      LOS rate: 0.611066 deg/s,
      cmd update: 1.833197 deg/s,
      cmd heading: 240.618071 deg,
      new cmd heading: 241.440180 deg.

2021-08-12T22:34:15.875Z,1628807655.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:16.237Z,1628807656.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:16.237Z,1628807656.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:16.237Z,1628807656.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:16.238Z,1628807656.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:16.641Z,1628807656.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,01EF2,186,80,80,51,FF
2021-08-12T22:34:16.641Z,1628807656.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:16.641Z,1628807656.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:16.643Z,1628807656.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:17.072Z,1628807657.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:17.897Z,1628807657.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,01EC1,187,80,80,6C,FF
2021-08-12T22:34:17.898Z,1628807657.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:17.901Z,1628807657.901 [Micromodem](INFO): Nmea in: $SNTTA,0.292068,,,,223418.17*4F

2021-08-12T22:34:18.323Z,1628807658.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 434.880005 m, bearing: 253.860510 deg, deltaT: 4.837252 s, approachRate: -0.607777 m/s, LOS rate: 0.298858 deg/s, posRepo size: 4
2021-08-12T22:34:18.325Z,1628807658.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 434.880005 m,
      bearing: 253.860510 deg,
      approachRate: -0.607777 m/s,
      LOS rate: 0.298858 deg/s,
      cmd update: 0.896573 deg/s,
      cmd heading: 249.462971 deg,
      new cmd heading: 250.194515 deg.

2021-08-12T22:34:20.790Z,1628807660.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:21.109Z,1628807661.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:21.109Z,1628807661.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:21.109Z,1628807661.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:21.110Z,1628807661.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:21.525Z,1628807661.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,01EC1,187,80,80,6C,FF
2021-08-12T22:34:21.525Z,1628807661.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:21.526Z,1628807661.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:21.527Z,1628807661.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:21.920Z,1628807661.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:22.788Z,1628807662.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,01E8C,186,80,80,93,FF
2021-08-12T22:34:22.788Z,1628807662.788 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:22.791Z,1628807662.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223423.05*5D

2021-08-12T22:34:23.210Z,1628807663.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 431.699982 m, bearing: 250.404051 deg, deltaT: 4.895646 s, approachRate: -0.649562 m/s, LOS rate: -0.706027 deg/s, posRepo size: 4
2021-08-12T22:34:23.216Z,1628807663.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.699982 m,
      bearing: 250.404051 deg,
      approachRate: -0.649562 m/s,
      LOS rate: -0.706027 deg/s,
      cmd update: -2.118081 deg/s,
      cmd heading: 253.860117 deg,
      new cmd heading: 254.202720 deg.

2021-08-12T22:34:25.570Z,1628807665.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:25.957Z,1628807665.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:25.957Z,1628807665.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:25.957Z,1628807665.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:25.958Z,1628807665.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:26.369Z,1628807666.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,01E8C,186,80,80,93,FF
2021-08-12T22:34:26.369Z,1628807666.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:26.369Z,1628807666.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:26.371Z,1628807666.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:26.805Z,1628807666.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:27.210Z,1628807667.210 [Micromodem](INFO): Nmea in: $SNTTA,0.288418,0.130905,,,223427.90*54

2021-08-12T22:34:27.589Z,1628807667.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,01E55,185,80,80,51,FF
2021-08-12T22:34:27.589Z,1628807667.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:28.004Z,1628807668.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.400024 m, bearing: 249.631857 deg, deltaT: 4.760006 s, approachRate: -0.693267 m/s, LOS rate: -0.162225 deg/s, posRepo size: 4
2021-08-12T22:34:28.006Z,1628807668.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.400024 m,
      bearing: 249.631857 deg,
      approachRate: -0.693267 m/s,
      LOS rate: -0.162225 deg/s,
      cmd update: -0.486676 deg/s,
      cmd heading: 243.728279 deg,
      new cmd heading: 242.896187 deg.

2021-08-12T22:34:30.442Z,1628807670.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:30.836Z,1628807670.836 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:30.836Z,1628807670.836 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:30.836Z,1628807670.836 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:30.837Z,1628807670.837 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:31.217Z,1628807671.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,01E55,185,80,80,51,FF
2021-08-12T22:34:31.217Z,1628807671.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:31.217Z,1628807671.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:31.219Z,1628807671.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:31.629Z,1628807671.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:32.457Z,1628807672.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,01E1B,186,80,80,55,FF
2021-08-12T22:34:32.457Z,1628807672.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:32.460Z,1628807672.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223432.74*5B

2021-08-12T22:34:32.897Z,1628807672.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 424.919983 m, bearing: 249.794580 deg, deltaT: 4.875223 s, approachRate: -0.713822 m/s, LOS rate: 0.033377 deg/s, posRepo size: 4
2021-08-12T22:34:32.899Z,1628807672.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 424.919983 m,
      bearing: 249.794580 deg,
      approachRate: -0.713822 m/s,
      LOS rate: 0.033377 deg/s,
      cmd update: 0.100132 deg/s,
      cmd heading: 241.355674 deg,
      new cmd heading: 241.155841 deg.

2021-08-12T22:34:35.289Z,1628807675.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:35.657Z,1628807675.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:35.657Z,1628807675.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:35.657Z,1628807675.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:35.658Z,1628807675.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:36.065Z,1628807676.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,01E1B,186,80,80,55,FF
2021-08-12T22:34:36.065Z,1628807676.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:36.065Z,1628807676.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:36.067Z,1628807676.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:36.491Z,1628807676.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:37.317Z,1628807677.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,01DE4,186,80,80,83,FF
2021-08-12T22:34:37.317Z,1628807677.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:37.320Z,1628807677.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223437.59*51

2021-08-12T22:34:37.715Z,1628807677.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 421.620026 m, bearing: 250.582265 deg, deltaT: 4.859343 s, approachRate: -0.679095 m/s, LOS rate: 0.162097 deg/s, posRepo size: 4
2021-08-12T22:34:37.718Z,1628807677.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 421.620026 m,
      bearing: 250.582265 deg,
      approachRate: -0.679095 m/s,
      LOS rate: 0.162097 deg/s,
      cmd update: 0.486291 deg/s,
      cmd heading: 241.842263 deg,
      new cmd heading: 241.879261 deg.

2021-08-12T22:34:40.151Z,1628807680.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:40.521Z,1628807680.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:40.521Z,1628807680.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:40.521Z,1628807680.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:40.522Z,1628807680.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:40.916Z,1628807680.916 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,01DE4,186,80,80,83,FF
2021-08-12T22:34:40.917Z,1628807680.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:40.917Z,1628807680.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:40.918Z,1628807680.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:41.321Z,1628807681.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:42.171Z,1628807682.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,01DA8,186,80,80,3F,FF
2021-08-12T22:34:42.171Z,1628807682.171 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:42.174Z,1628807682.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223442.44*5F

2021-08-12T22:34:42.563Z,1628807682.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 418.019989 m, bearing: 252.270086 deg, deltaT: 4.854005 s, approachRate: -0.741663 m/s, LOS rate: 0.347717 deg/s, posRepo size: 4
2021-08-12T22:34:42.565Z,1628807682.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 418.019989 m,
      bearing: 252.270086 deg,
      approachRate: -0.741663 m/s,
      LOS rate: 0.347717 deg/s,
      cmd update: 1.043152 deg/s,
      cmd heading: 244.202713 deg,
      new cmd heading: 244.379402 deg.

2021-08-12T22:34:45.014Z,1628807685.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:45.369Z,1628807685.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:45.369Z,1628807685.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:45.369Z,1628807685.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:45.370Z,1628807685.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:45.769Z,1628807685.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,01DA8,186,80,80,3F,FF
2021-08-12T22:34:45.769Z,1628807685.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:45.769Z,1628807685.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:45.771Z,1628807685.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:46.213Z,1628807686.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:46.992Z,1628807686.992 [Micromodem](INFO): Nmea in: $SNTTA,0.388473,0.388498,,,223447.29*54

2021-08-12T22:34:47.826Z,1628807687.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:49.436Z,1628807689.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:49.436Z,1628807689.436 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:49.436Z,1628807689.436 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:34:50.646Z,1628807690.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:51.017Z,1628807691.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:51.017Z,1628807691.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:51.018Z,1628807691.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:51.019Z,1628807691.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:51.422Z,1628807691.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:51.422Z,1628807691.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:51.422Z,1628807691.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:51.423Z,1628807691.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:51.847Z,1628807691.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:52.649Z,1628807692.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223452.95*52

2021-08-12T22:34:53.498Z,1628807693.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:55.053Z,1628807695.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:55.054Z,1628807695.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:55.054Z,1628807695.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:34:56.317Z,1628807696.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:34:56.677Z,1628807696.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:34:56.677Z,1628807696.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:34:56.678Z,1628807696.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:34:56.678Z,1628807696.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:34:57.085Z,1628807697.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,3F,FF
2021-08-12T22:34:57.085Z,1628807697.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:34:57.085Z,1628807697.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:34:57.087Z,1628807697.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:34:57.484Z,1628807697.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:34:58.313Z,1628807698.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,01CFE,185,80,80,56,FF
2021-08-12T22:34:58.313Z,1628807698.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:34:58.317Z,1628807698.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223458.61*53

2021-08-12T22:34:58.807Z,1628807698.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 407.820007 m, bearing: 252.201784 deg, deltaT: 16.187592 s, approachRate: -0.630111 m/s, LOS rate: -0.004219 deg/s, posRepo size: 4
2021-08-12T22:34:58.821Z,1628807698.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 407.820007 m,
      bearing: 252.201784 deg,
      approachRate: -0.630111 m/s,
      LOS rate: -0.004219 deg/s,
      cmd update: -0.012658 deg/s,
      cmd heading: 261.079663 deg,
      new cmd heading: 261.526231 deg.

2021-08-12T22:35:01.216Z,1628807701.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:01.525Z,1628807701.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:01.525Z,1628807701.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:01.526Z,1628807701.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:01.527Z,1628807701.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:01.925Z,1628807701.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,01CFE,185,80,80,56,FF
2021-08-12T22:35:01.926Z,1628807701.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:01.926Z,1628807701.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:01.927Z,1628807701.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:02.328Z,1628807702.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:03.171Z,1628807703.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223503.46*59

2021-08-12T22:35:03.959Z,1628807703.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:05.561Z,1628807705.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:05.561Z,1628807705.561 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:05.561Z,1628807705.561 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:35:06.917Z,1628807706.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:07.204Z,1628807707.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:07.204Z,1628807707.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:07.204Z,1628807707.204 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:07.205Z,1628807707.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:07.581Z,1628807707.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:07.581Z,1628807707.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:07.582Z,1628807707.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:07.583Z,1628807707.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:07.985Z,1628807707.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:08.838Z,1628807708.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223509.11*51

2021-08-12T22:35:09.629Z,1628807709.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:11.228Z,1628807711.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:11.229Z,1628807711.229 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:11.229Z,1628807711.229 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:35:12.461Z,1628807712.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:12.850Z,1628807712.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:12.850Z,1628807712.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:12.850Z,1628807712.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:12.851Z,1628807712.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:13.237Z,1628807713.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,56,FF
2021-08-12T22:35:13.237Z,1628807713.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:13.237Z,1628807713.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:13.239Z,1628807713.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:13.648Z,1628807713.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:14.477Z,1628807714.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04F,000,01C3C,184,80,80,5D,FF
2021-08-12T22:35:14.477Z,1628807714.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:14.480Z,1628807714.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223514.76*5C

2021-08-12T22:35:14.907Z,1628807714.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 396.179962 m, bearing: 254.225023 deg, deltaT: 16.118597 s, approachRate: -0.722150 m/s, LOS rate: 0.125522 deg/s, posRepo size: 4
2021-08-12T22:35:14.909Z,1628807714.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 396.179962 m,
      bearing: 254.225023 deg,
      approachRate: -0.722150 m/s,
      LOS rate: 0.125522 deg/s,
      cmd update: 0.376566 deg/s,
      cmd heading: 260.875520 deg,
      new cmd heading: 260.870446 deg.

2021-08-12T22:35:17.320Z,1628807717.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:17.685Z,1628807717.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:17.685Z,1628807717.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:17.685Z,1628807717.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:17.686Z,1628807717.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:18.092Z,1628807718.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04F,000,01C3C,184,80,80,5D,FF
2021-08-12T22:35:18.093Z,1628807718.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:18.093Z,1628807718.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:18.094Z,1628807718.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:18.484Z,1628807718.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:19.317Z,1628807719.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,01C08,186,80,80,61,FF
2021-08-12T22:35:19.317Z,1628807719.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:19.320Z,1628807719.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223519.62*54

2021-08-12T22:35:19.731Z,1628807719.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 393.059998 m, bearing: 252.958160 deg, deltaT: 4.908673 s, approachRate: -0.635602 m/s, LOS rate: -0.258087 deg/s, posRepo size: 4
2021-08-12T22:35:19.734Z,1628807719.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 393.059998 m,
      bearing: 252.958160 deg,
      approachRate: -0.635602 m/s,
      LOS rate: -0.258087 deg/s,
      cmd update: -0.774260 deg/s,
      cmd heading: 262.720081 deg,
      new cmd heading: 262.843226 deg.

2021-08-12T22:35:22.183Z,1628807722.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:22.529Z,1628807722.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:22.529Z,1628807722.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:22.529Z,1628807722.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:22.530Z,1628807722.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:22.949Z,1628807722.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,01C08,186,80,80,61,FF
2021-08-12T22:35:22.949Z,1628807722.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:22.949Z,1628807722.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:22.951Z,1628807722.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:23.340Z,1628807723.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:24.167Z,1628807724.167 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,01BDA,186,80,80,8B,FF
2021-08-12T22:35:24.167Z,1628807724.167 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:24.170Z,1628807724.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223524.48*52

2021-08-12T22:35:24.591Z,1628807724.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 390.299988 m, bearing: 251.415876 deg, deltaT: 4.807676 s, approachRate: -0.574084 m/s, LOS rate: -0.320796 deg/s, posRepo size: 4
2021-08-12T22:35:24.593Z,1628807724.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 390.299988 m,
      bearing: 251.415876 deg,
      approachRate: -0.574084 m/s,
      LOS rate: -0.320796 deg/s,
      cmd update: -0.962388 deg/s,
      cmd heading: 258.993098 deg,
      new cmd heading: 258.704088 deg.

2021-08-12T22:35:27.042Z,1628807727.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:27.385Z,1628807727.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:27.385Z,1628807727.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:27.385Z,1628807727.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:27.386Z,1628807727.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:27.781Z,1628807727.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,01BDA,186,80,80,8B,FF
2021-08-12T22:35:27.781Z,1628807727.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:27.781Z,1628807727.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:27.783Z,1628807727.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:28.212Z,1628807728.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:29.013Z,1628807729.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,01B9C,185,80,80,57,FF
2021-08-12T22:35:29.013Z,1628807729.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:29.017Z,1628807729.017 [Micromodem](INFO): Nmea in: $SNTTA,0.424855,,,,223529.31*45

2021-08-12T22:35:29.470Z,1628807729.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 386.579987 m, bearing: 252.978514 deg, deltaT: 4.855414 s, approachRate: -0.766155 m/s, LOS rate: 0.321834 deg/s, posRepo size: 4
2021-08-12T22:35:29.477Z,1628807729.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.579987 m,
      bearing: 252.978514 deg,
      approachRate: -0.766155 m/s,
      LOS rate: 0.321834 deg/s,
      cmd update: 0.965502 deg/s,
      cmd heading: 254.316101 deg,
      new cmd heading: 253.938432 deg.

2021-08-12T22:35:31.862Z,1628807731.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:32.225Z,1628807732.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:32.225Z,1628807732.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:32.225Z,1628807732.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:32.226Z,1628807732.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:32.633Z,1628807732.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,01B9C,185,80,80,57,FF
2021-08-12T22:35:32.633Z,1628807732.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:32.633Z,1628807732.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:32.635Z,1628807732.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:33.051Z,1628807733.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:33.870Z,1628807733.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,01B62,183,80,80,4B,FF
2021-08-12T22:35:33.870Z,1628807733.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:33.875Z,1628807733.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223534.16*58

2021-08-12T22:35:34.294Z,1628807734.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.100006 m, bearing: 252.819753 deg, deltaT: 4.851614 s, approachRate: -0.717283 m/s, LOS rate: -0.032723 deg/s, posRepo size: 4
2021-08-12T22:35:34.296Z,1628807734.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 383.100006 m,
      bearing: 252.819753 deg,
      approachRate: -0.717283 m/s,
      LOS rate: -0.032723 deg/s,
      cmd update: -0.098170 deg/s,
      cmd heading: 258.998034 deg,
      new cmd heading: 259.352009 deg.

2021-08-12T22:35:36.707Z,1628807736.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:37.085Z,1628807737.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:37.085Z,1628807737.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:37.085Z,1628807737.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:37.086Z,1628807737.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:37.493Z,1628807737.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,01B62,183,80,80,4B,FF
2021-08-12T22:35:37.493Z,1628807737.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:37.493Z,1628807737.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:37.495Z,1628807737.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:37.896Z,1628807737.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:38.717Z,1628807738.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,01B33,184,80,80,81,FF
2021-08-12T22:35:38.718Z,1628807738.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:38.727Z,1628807738.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223539.02*50

2021-08-12T22:35:39.206Z,1628807739.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 380.279968 m, bearing: 252.148618 deg, deltaT: 4.870859 s, approachRate: -0.578961 m/s, LOS rate: -0.137786 deg/s, posRepo size: 4
2021-08-12T22:35:39.210Z,1628807739.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.279968 m,
      bearing: 252.148618 deg,
      approachRate: -0.578961 m/s,
      LOS rate: -0.137786 deg/s,
      cmd update: -0.413357 deg/s,
      cmd heading: 258.520041 deg,
      new cmd heading: 258.479757 deg.

2021-08-12T22:35:41.563Z,1628807741.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:41.925Z,1628807741.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:41.925Z,1628807741.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:41.925Z,1628807741.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:41.926Z,1628807741.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:42.349Z,1628807742.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,01B33,184,80,80,81,FF
2021-08-12T22:35:42.350Z,1628807742.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:42.350Z,1628807742.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:42.352Z,1628807742.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:42.778Z,1628807742.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:43.557Z,1628807743.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,01AF2,183,80,80,89,FF
2021-08-12T22:35:43.557Z,1628807743.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:43.560Z,1628807743.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223543.88*5F

2021-08-12T22:35:44.007Z,1628807744.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 376.380005 m, bearing: 254.330782 deg, deltaT: 4.810320 s, approachRate: -0.810749 m/s, LOS rate: 0.453642 deg/s, posRepo size: 4
2021-08-12T22:35:44.010Z,1628807744.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.380005 m,
      bearing: 254.330782 deg,
      approachRate: -0.810749 m/s,
      LOS rate: 0.453642 deg/s,
      cmd update: 1.360926 deg/s,
      cmd heading: 256.536226 deg,
      new cmd heading: 256.365961 deg.

2021-08-12T22:35:46.421Z,1628807746.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:46.821Z,1628807746.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:46.821Z,1628807746.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:46.821Z,1628807746.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:46.822Z,1628807746.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:47.216Z,1628807747.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,01AF2,183,80,80,89,FF
2021-08-12T22:35:47.216Z,1628807747.216 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:47.217Z,1628807747.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:47.218Z,1628807747.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:47.592Z,1628807747.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:48.395Z,1628807748.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,01AC0,184,80,80,56,FF
2021-08-12T22:35:48.397Z,1628807748.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:48.402Z,1628807748.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223548.74*57

2021-08-12T22:35:48.909Z,1628807748.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.380005 m, bearing: 252.514662 deg, deltaT: 4.861248 s, approachRate: -0.617125 m/s, LOS rate: -0.373591 deg/s, posRepo size: 4
2021-08-12T22:35:48.911Z,1628807748.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.380005 m,
      bearing: 252.514662 deg,
      approachRate: -0.617125 m/s,
      LOS rate: -0.373591 deg/s,
      cmd update: -1.120774 deg/s,
      cmd heading: 263.156336 deg,
      new cmd heading: 263.761961 deg.

2021-08-12T22:35:51.278Z,1628807751.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:51.621Z,1628807751.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:51.621Z,1628807751.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:51.621Z,1628807751.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:51.622Z,1628807751.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:52.038Z,1628807752.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,01AC0,184,80,80,56,FF
2021-08-12T22:35:52.038Z,1628807752.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:52.039Z,1628807752.039 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:52.057Z,1628807752.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:52.440Z,1628807752.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:53.251Z,1628807753.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,01A84,186,80,80,64,FF
2021-08-12T22:35:53.253Z,1628807753.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:53.258Z,1628807753.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223553.58*53

2021-08-12T22:35:53.705Z,1628807753.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 369.779968 m, bearing: 252.243394 deg, deltaT: 4.845407 s, approachRate: -0.742979 m/s, LOS rate: -0.055985 deg/s, posRepo size: 4
2021-08-12T22:35:53.707Z,1628807753.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.779968 m,
      bearing: 252.243394 deg,
      approachRate: -0.742979 m/s,
      LOS rate: -0.055985 deg/s,
      cmd update: -0.167954 deg/s,
      cmd heading: 257.721538 deg,
      new cmd heading: 257.283095 deg.

2021-08-12T22:35:56.113Z,1628807756.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:35:56.469Z,1628807756.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:35:56.469Z,1628807756.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:35:56.469Z,1628807756.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:35:56.470Z,1628807756.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:35:56.878Z,1628807756.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,01A84,186,80,80,64,FF
2021-08-12T22:35:56.878Z,1628807756.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:35:56.878Z,1628807756.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:35:56.880Z,1628807756.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:35:57.281Z,1628807757.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:35:58.108Z,1628807758.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,015E1,185,80,80,72,FF
2021-08-12T22:35:58.108Z,1628807758.108 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:35:58.111Z,1628807758.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223558.41*50

2021-08-12T22:35:58.573Z,1628807758.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.559998 m, bearing: 251.554747 deg, deltaT: 4.854629 s, approachRate: -14.670528 m/s, LOS rate: -0.141854 deg/s, posRepo size: 4
2021-08-12T22:35:58.581Z,1628807758.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.559998 m,
      bearing: 251.554747 deg,
      approachRate: -14.670528 m/s,
      LOS rate: -0.141854 deg/s,
      cmd update: -0.425561 deg/s,
      cmd heading: 256.905475 deg,
      new cmd heading: 256.838355 deg.

2021-08-12T22:36:00.971Z,1628807760.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:01.317Z,1628807761.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:01.317Z,1628807761.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:01.317Z,1628807761.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:01.318Z,1628807761.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:01.725Z,1628807761.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,015E1,185,80,80,72,FF
2021-08-12T22:36:01.726Z,1628807761.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:01.726Z,1628807761.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:01.727Z,1628807761.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:02.128Z,1628807762.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:02.941Z,1628807762.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,01A0D,183,80,80,57,FF
2021-08-12T22:36:02.941Z,1628807762.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:02.945Z,1628807762.945 [Micromodem](INFO): Nmea in: $SNTTA,0.411163,0.411288,,,223603.25*59

2021-08-12T22:36:03.380Z,1628807763.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.639984 m, bearing: 254.647703 deg, deltaT: 4.835969 s, approachRate: 13.250703 m/s, LOS rate: 0.639573 deg/s, posRepo size: 4
2021-08-12T22:36:03.382Z,1628807763.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.639984 m,
      bearing: 254.647703 deg,
      approachRate: 13.250703 m/s,
      LOS rate: 0.639573 deg/s,
      cmd update: 1.918719 deg/s,
      cmd heading: 254.857858 deg,
      new cmd heading: 254.687526 deg.

2021-08-12T22:36:05.782Z,1628807765.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:06.182Z,1628807766.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:06.182Z,1628807766.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:06.182Z,1628807766.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:06.183Z,1628807766.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:06.569Z,1628807766.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,01A0D,183,80,80,57,FF
2021-08-12T22:36:06.569Z,1628807766.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:06.569Z,1628807766.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:06.571Z,1628807766.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:06.991Z,1628807766.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:07.797Z,1628807767.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,019D6,184,80,80,5E,FF
2021-08-12T22:36:07.798Z,1628807767.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:07.800Z,1628807767.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223608.10*52

2021-08-12T22:36:08.266Z,1628807768.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.340027 m, bearing: 252.082966 deg, deltaT: 4.807793 s, approachRate: -0.686377 m/s, LOS rate: -0.533454 deg/s, posRepo size: 4
2021-08-12T22:36:08.272Z,1628807768.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.340027 m,
      bearing: 252.082966 deg,
      approachRate: -0.686377 m/s,
      LOS rate: -0.533454 deg/s,
      cmd update: -1.600362 deg/s,
      cmd heading: 264.137005 deg,
      new cmd heading: 265.001401 deg.

2021-08-12T22:36:10.627Z,1628807770.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:11.021Z,1628807771.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:11.021Z,1628807771.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:11.021Z,1628807771.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:11.022Z,1628807771.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:11.417Z,1628807771.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,019D6,184,80,80,5E,FF
2021-08-12T22:36:11.417Z,1628807771.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:11.417Z,1628807771.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:11.419Z,1628807771.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:11.824Z,1628807771.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:12.657Z,1628807772.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0199B,186,80,80,5A,FF
2021-08-12T22:36:12.657Z,1628807772.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:12.660Z,1628807772.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223612.94*55

2021-08-12T22:36:13.085Z,1628807773.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 355.799988 m, bearing: 250.759412 deg, deltaT: 4.916556 s, approachRate: -0.720024 m/s, LOS rate: -0.269204 deg/s, posRepo size: 4
2021-08-12T22:36:13.087Z,1628807773.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.799988 m,
      bearing: 250.759412 deg,
      approachRate: -0.720024 m/s,
      LOS rate: -0.269204 deg/s,
      cmd update: -0.807611 deg/s,
      cmd heading: 256.299580 deg,
      new cmd heading: 255.704963 deg.

2021-08-12T22:36:13.486Z,1628807773.486 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:36:13.487Z,1628807773.487 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T22:36:13.487Z,1628807773.487 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T22:36:13.487Z,1628807773.487 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:36:13.487Z,1628807773.487 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T22:36:14.002Z,1628807774.002 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 379E1561070000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-12T22:36:14.003Z,1628807774.003 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-12T22:36:14.004Z,1628807774.004 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F910A0F48C6889B12E793740F109CA2C4C9570E4561934073002E10DBC1A45827DF900DD6EE00
2021-08-12T22:36:14.005Z,1628807774.005 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-12T22:36:14.265Z,1628807774.265 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-12T22:36:14.667Z,1628807774.667 [Micromodem](INFO): Nmea in: $CADRQ,223615,1,10,0,64,1*77

2021-08-12T22:36:14.667Z,1628807774.667 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E1561070000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*38

2021-08-12T22:36:15.077Z,1628807775.077 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-12T22:36:15.462Z,1628807775.462 [Micromodem](INFO): Nmea in: $CADRQ,223616,1,10,0,64,2*77

2021-08-12T22:36:15.463Z,1628807775.463 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-12T22:36:15.762Z,1628807775.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:15.925Z,1628807775.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:15.925Z,1628807775.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:15.925Z,1628807775.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:15.926Z,1628807775.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:15.932Z,1628807775.932 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-12T22:36:16.329Z,1628807776.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0199B,186,80,80,5A,FF
2021-08-12T22:36:16.329Z,1628807776.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:16.329Z,1628807776.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:16.331Z,1628807776.331 [Micromodem](INFO): Nmea in: $CADRQ,223616,1,10,0,64,3*76

2021-08-12T22:36:16.331Z,1628807776.331 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F910A0F48C6889B12E793740F109CA2C4C9570E4561934073002E10DBC1A45827DF900DD6EE00*3F

2021-08-12T22:36:16.761Z,1628807776.761 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:36:16.762Z,1628807776.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:17.173Z,1628807777.173 [Micromodem](INFO): Nmea in: $CATXP,188*43

2021-08-12T22:36:17.174Z,1628807777.174 [Micromodem](ERROR): Response from modem unexpected: $CATXP,188*43

2021-08-12T22:36:18.398Z,1628807778.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:20.814Z,1628807780.814 [Micromodem](INFO): Nmea in: $CATXF,188*55

2021-08-12T22:36:20.814Z,1628807780.814 [Micromodem](ERROR): Response from modem unexpected: $CATXF,188*55

2021-08-12T22:36:20.922Z,1628807780.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:21.216Z,1628807781.216 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,223617.898359,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*60

2021-08-12T22:36:21.216Z,1628807781.216 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,223617.898359,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*60

2021-08-12T22:36:21.000Z,1628807782.000 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073872
2021-08-12T22:36:23.630Z,1628807783.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:24.005Z,1628807784.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:24.005Z,1628807784.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:24.005Z,1628807784.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:24.006Z,1628807784.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:24.457Z,1628807784.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0199B,186,80,80,5A,FF
2021-08-12T22:36:24.457Z,1628807784.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:24.457Z,1628807784.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:24.466Z,1628807784.466 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T22:36:24.830Z,1628807784.830 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-12T22:36:25.218Z,1628807785.218 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-12T22:36:25.219Z,1628807785.219 [Micromodem](INFO): Sent 180 bytes from file Logs/20210812T221831/Courier0007.lzma.parts
2021-08-12T22:36:25.220Z,1628807785.220 [Micromodem](INFO): Packets left to send: 0
2021-08-12T22:36:25.631Z,1628807785.631 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812223624.934604,06,31564,44,0290,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,0.5,11.04,21,-8.04,-01,-0.61,58,14500,4000*49

2021-08-12T22:36:25.631Z,1628807785.631 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812223624.934604,06,31564,44,0290,0150,74,01,01,00,01,1,010,001,0,4,1,0,150,0.5,11.04,21,-8.04,-01,-0.61,58,14500,4000*49

2021-08-12T22:36:25.761Z,1628807785.761 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000
2021-08-12T22:36:26.258Z,1628807786.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:28.046Z,1628807788.046 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:28.516Z,1628807788.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:28.528Z,1628807788.528 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:36:28.918Z,1628807788.918 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:36:28.982Z,1628807788.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:29.326Z,1628807789.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,018D8,186,80,80,6E,FF
2021-08-12T22:36:29.326Z,1628807789.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:29.329Z,1628807789.329 [Micromodem](INFO): Nmea in: $CADRQ,223629,1,10,0,64,1*78

2021-08-12T22:36:29.330Z,1628807789.330 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000*3D

2021-08-12T22:36:29.750Z,1628807789.750 [Micromodem](INFO): Nmea in: $SNTTA,0.231602,0.293269,,,223629.57*53

2021-08-12T22:36:29.750Z,1628807789.750 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.231602,0.293269,,,223629.57*53

2021-08-12T22:36:29.771Z,1628807789.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.100006 m, bearing: 253.460998 deg, deltaT: 16.815337 s, approachRate: -0.695792 m/s, LOS rate: 0.160662 deg/s, posRepo size: 4
2021-08-12T22:36:29.774Z,1628807789.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.100006 m,
      bearing: 253.460998 deg,
      approachRate: -0.695792 m/s,
      LOS rate: 0.160662 deg/s,
      cmd update: 0.481986 deg/s,
      cmd heading: 242.710094 deg,
      new cmd heading: 242.522835 deg.

2021-08-12T22:36:30.965Z,1628807790.965 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:36:31.377Z,1628807791.377 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T22:36:31.758Z,1628807791.758 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T22:36:32.179Z,1628807792.179 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,223630.876361,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-12T22:36:32.229Z,1628807792.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:32.553Z,1628807792.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:32.553Z,1628807792.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:32.553Z,1628807792.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:32.554Z,1628807792.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:32.981Z,1628807792.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,018D8,186,80,80,6E,FF
2021-08-12T22:36:32.981Z,1628807792.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:32.981Z,1628807792.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:32.983Z,1628807792.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:33.381Z,1628807793.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:34.235Z,1628807794.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223634.51*58

2021-08-12T22:36:34.809Z,1628807794.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:36.611Z,1628807796.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,6E,FF
2021-08-12T22:36:36.611Z,1628807796.611 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,6E,FF
2021-08-12T22:36:36.611Z,1628807796.611 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:36:37.472Z,1628807797.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:37.825Z,1628807797.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:37.825Z,1628807797.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:37.825Z,1628807797.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:37.826Z,1628807797.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:38.235Z,1628807798.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,6E,FF
2021-08-12T22:36:38.235Z,1628807798.235 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:38.235Z,1628807798.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:38.237Z,1628807798.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:38.634Z,1628807798.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:39.549Z,1628807799.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,01860,187,80,80,94,FF
2021-08-12T22:36:39.549Z,1628807799.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:39.552Z,1628807799.552 [Micromodem](INFO): Nmea in: $SNTTA,0.226773,,,,223639.76*4B

2021-08-12T22:36:39.951Z,1628807799.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.899994 m, bearing: 254.295292 deg, deltaT: 10.019613 s, approachRate: -0.718592 m/s, LOS rate: 0.083266 deg/s, posRepo size: 4
2021-08-12T22:36:39.954Z,1628807799.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.899994 m,
      bearing: 254.295292 deg,
      approachRate: -0.718592 m/s,
      LOS rate: 0.083266 deg/s,
      cmd update: 0.249798 deg/s,
      cmd heading: 247.543287 deg,
      new cmd heading: 247.728488 deg.

2021-08-12T22:36:42.437Z,1628807802.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:42.817Z,1628807802.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:42.817Z,1628807802.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:42.817Z,1628807802.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:42.818Z,1628807802.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:43.209Z,1628807803.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,01860,187,80,80,94,FF
2021-08-12T22:36:43.209Z,1628807803.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:43.209Z,1628807803.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:43.211Z,1628807803.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:43.593Z,1628807803.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:44.392Z,1628807804.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,01824,186,80,80,75,FF
2021-08-12T22:36:44.392Z,1628807804.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:44.400Z,1628807804.400 [Micromodem](INFO): Nmea in: $SNTTA,0.224416,,,,223644.74*41

2021-08-12T22:36:44.926Z,1628807804.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.299988 m, bearing: 253.770570 deg, deltaT: 4.936260 s, approachRate: -0.729298 m/s, LOS rate: -0.106300 deg/s, posRepo size: 4
2021-08-12T22:36:44.934Z,1628807804.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.299988 m,
      bearing: 253.770570 deg,
      approachRate: -0.729298 m/s,
      LOS rate: -0.106300 deg/s,
      cmd update: -0.318899 deg/s,
      cmd heading: 248.775343 deg,
      new cmd heading: 248.880678 deg.

2021-08-12T22:36:47.423Z,1628807807.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:47.621Z,1628807807.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:47.621Z,1628807807.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:47.621Z,1628807807.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:47.622Z,1628807807.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:48.031Z,1628807808.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F34,000,01824,186,80,80,75,FF
2021-08-12T22:36:48.031Z,1628807808.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:48.031Z,1628807808.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:48.033Z,1628807808.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:48.432Z,1628807808.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:49.258Z,1628807809.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,017F1,186,80,80,6D,FF
2021-08-12T22:36:49.258Z,1628807809.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:49.261Z,1628807809.261 [Micromodem](INFO): Nmea in: $SNTTA,0.298310,,,,223649.56*4A

2021-08-12T22:36:49.684Z,1628807809.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.239990 m, bearing: 254.584810 deg, deltaT: 4.814196 s, approachRate: -0.635620 m/s, LOS rate: 0.169133 deg/s, posRepo size: 4
2021-08-12T22:36:49.686Z,1628807809.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.239990 m,
      bearing: 254.584810 deg,
      approachRate: -0.635620 m/s,
      LOS rate: 0.169133 deg/s,
      cmd update: 0.507400 deg/s,
      cmd heading: 247.242497 deg,
      new cmd heading: 247.121983 deg.

2021-08-12T22:36:51.830Z,1628807811.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:52.065Z,1628807812.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:52.065Z,1628807812.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:52.065Z,1628807812.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:52.066Z,1628807812.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:52.474Z,1628807812.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,017F1,186,80,80,6D,FF
2021-08-12T22:36:52.474Z,1628807812.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:52.474Z,1628807812.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:52.476Z,1628807812.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:52.879Z,1628807812.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:53.705Z,1628807813.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,017BC,187,80,80,3A,FF
2021-08-12T22:36:53.705Z,1628807813.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:53.709Z,1628807813.709 [Micromodem](INFO): Nmea in: $SNTTA,0.037447,,,,223654.00*47

2021-08-12T22:36:54.155Z,1628807814.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 327.059998 m, bearing: 256.656461 deg, deltaT: 4.584220 s, approachRate: -0.693682 m/s, LOS rate: 0.451909 deg/s, posRepo size: 4
2021-08-12T22:36:54.176Z,1628807814.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 327.059998 m,
      bearing: 256.656461 deg,
      approachRate: -0.693682 m/s,
      LOS rate: 0.451909 deg/s,
      cmd update: 1.355727 deg/s,
      cmd heading: 249.574392 deg,
      new cmd heading: 249.692886 deg.

2021-08-12T22:36:56.557Z,1628807816.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:36:56.925Z,1628807816.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:36:56.925Z,1628807816.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:36:56.925Z,1628807816.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:36:56.926Z,1628807816.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:36:57.331Z,1628807817.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,017BC,187,80,80,3A,FF
2021-08-12T22:36:57.331Z,1628807817.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:36:57.331Z,1628807817.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:36:57.333Z,1628807817.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:36:57.724Z,1628807817.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:36:58.545Z,1628807818.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,01780,186,80,80,64,FF
2021-08-12T22:36:58.545Z,1628807818.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:36:58.548Z,1628807818.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223658.86*58

2021-08-12T22:36:58.992Z,1628807818.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.459991 m, bearing: 251.953876 deg, deltaT: 4.660864 s, approachRate: -0.772390 m/s, LOS rate: -1.008951 deg/s, posRepo size: 4
2021-08-12T22:36:58.994Z,1628807818.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.459991 m,
      bearing: 251.953876 deg,
      approachRate: -0.772390 m/s,
      LOS rate: -1.008951 deg/s,
      cmd update: -3.026854 deg/s,
      cmd heading: 255.893234 deg,
      new cmd heading: 256.474717 deg.

2021-08-12T22:37:01.438Z,1628807821.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:01.761Z,1628807821.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:01.761Z,1628807821.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:01.761Z,1628807821.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:01.762Z,1628807821.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:02.185Z,1628807822.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,01780,186,80,80,64,FF
2021-08-12T22:37:02.185Z,1628807822.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:02.186Z,1628807822.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:02.187Z,1628807822.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:02.577Z,1628807822.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:03.393Z,1628807823.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,01746,185,80,80,55,FF
2021-08-12T22:37:03.394Z,1628807823.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:03.397Z,1628807823.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223703.71*5F

2021-08-12T22:37:03.823Z,1628807823.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.979980 m, bearing: 252.306751 deg, deltaT: 4.859094 s, approachRate: -0.716185 m/s, LOS rate: 0.072622 deg/s, posRepo size: 4
2021-08-12T22:37:03.826Z,1628807823.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.979980 m,
      bearing: 252.306751 deg,
      approachRate: -0.716185 m/s,
      LOS rate: 0.072622 deg/s,
      cmd update: 0.217865 deg/s,
      cmd heading: 241.185362 deg,
      new cmd heading: 239.969995 deg.

2021-08-12T22:37:06.295Z,1628807826.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:06.605Z,1628807826.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:06.605Z,1628807826.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:06.605Z,1628807826.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:06.606Z,1628807826.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:07.088Z,1628807827.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,01746,185,80,80,55,FF
2021-08-12T22:37:07.089Z,1628807827.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:07.089Z,1628807827.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:07.090Z,1628807827.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:07.489Z,1628807827.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:08.317Z,1628807828.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,0170F,186,80,80,4F,FF
2021-08-12T22:37:08.318Z,1628807828.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:08.324Z,1628807828.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223708.61*55

2021-08-12T22:37:08.768Z,1628807828.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.679993 m, bearing: 253.838489 deg, deltaT: 4.927806 s, approachRate: -0.669667 m/s, LOS rate: 0.310836 deg/s, posRepo size: 4
2021-08-12T22:37:08.785Z,1628807828.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.679993 m,
      bearing: 253.838489 deg,
      approachRate: -0.669667 m/s,
      LOS rate: 0.310836 deg/s,
      cmd update: 0.932507 deg/s,
      cmd heading: 242.258807 deg,
      new cmd heading: 242.347355 deg.

2021-08-12T22:37:10.992Z,1628807830.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:11.180Z,1628807831.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:11.180Z,1628807831.180 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:11.180Z,1628807831.180 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:11.181Z,1628807831.181 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:11.553Z,1628807831.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,0170F,186,80,80,4F,FF
2021-08-12T22:37:11.553Z,1628807831.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:11.553Z,1628807831.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:11.555Z,1628807831.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:11.960Z,1628807831.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:12.829Z,1628807832.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,016DE,187,80,80,3C,FF
2021-08-12T22:37:12.829Z,1628807832.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:12.832Z,1628807832.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223713.08*50

2021-08-12T22:37:13.266Z,1628807833.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.739990 m, bearing: 254.969678 deg, deltaT: 4.689093 s, approachRate: -0.626987 m/s, LOS rate: 0.241238 deg/s, posRepo size: 4
2021-08-12T22:37:13.268Z,1628807833.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.739990 m,
      bearing: 254.969678 deg,
      approachRate: -0.626987 m/s,
      LOS rate: 0.241238 deg/s,
      cmd update: 0.723715 deg/s,
      cmd heading: 246.627533 deg,
      new cmd heading: 246.843977 deg.

2021-08-12T22:37:15.655Z,1628807835.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:16.041Z,1628807836.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:16.041Z,1628807836.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:16.041Z,1628807836.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:16.042Z,1628807836.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:16.441Z,1628807836.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,016DE,187,80,80,3C,FF
2021-08-12T22:37:16.441Z,1628807836.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:16.441Z,1628807836.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:16.443Z,1628807836.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:16.855Z,1628807836.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:17.705Z,1628807837.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,016A5,186,80,80,74,FF
2021-08-12T22:37:17.705Z,1628807837.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:17.709Z,1628807837.709 [Micromodem](INFO): Nmea in: $SNTTA,0.095336,,,,223717.97*46

2021-08-12T22:37:18.178Z,1628807838.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.319977 m, bearing: 255.160868 deg, deltaT: 4.684809 s, approachRate: -0.730022 m/s, LOS rate: 0.040811 deg/s, posRepo size: 4
2021-08-12T22:37:18.180Z,1628807838.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.319977 m,
      bearing: 255.160868 deg,
      approachRate: -0.730022 m/s,
      LOS rate: 0.040811 deg/s,
      cmd update: 0.122432 deg/s,
      cmd heading: 250.021478 deg,
      new cmd heading: 250.350452 deg.

2021-08-12T22:37:20.586Z,1628807840.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:20.938Z,1628807840.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:20.938Z,1628807840.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:20.939Z,1628807840.939 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:20.940Z,1628807840.940 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:21.337Z,1628807841.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,016A5,186,80,80,74,FF
2021-08-12T22:37:21.337Z,1628807841.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:21.337Z,1628807841.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:21.339Z,1628807841.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:21.745Z,1628807841.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:22.573Z,1628807842.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0166A,187,80,80,74,FF
2021-08-12T22:37:22.573Z,1628807842.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:22.576Z,1628807842.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223722.86*54

2021-08-12T22:37:23.003Z,1628807843.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.779968 m, bearing: 252.378604 deg, deltaT: 4.867900 s, approachRate: -0.727215 m/s, LOS rate: -0.571553 deg/s, posRepo size: 4
2021-08-12T22:37:23.006Z,1628807843.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.779968 m,
      bearing: 252.378604 deg,
      approachRate: -0.727215 m/s,
      LOS rate: -0.571553 deg/s,
      cmd update: -1.714660 deg/s,
      cmd heading: 250.617465 deg,
      new cmd heading: 250.667923 deg.

2021-08-12T22:37:25.473Z,1628807845.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:25.781Z,1628807845.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:25.781Z,1628807845.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:25.781Z,1628807845.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:25.782Z,1628807845.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:26.213Z,1628807846.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0166A,187,80,80,74,FF
2021-08-12T22:37:26.213Z,1628807846.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:26.213Z,1628807846.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:26.214Z,1628807846.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:26.597Z,1628807846.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:27.397Z,1628807847.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,01636,186,80,80,75,FF
2021-08-12T22:37:27.397Z,1628807847.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:27.813Z,1628807847.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223727.79*51

2021-08-12T22:37:27.835Z,1628807847.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 303.660004 m, bearing: 254.279829 deg, deltaT: 4.891054 s, approachRate: -0.637892 m/s, LOS rate: 0.388715 deg/s, posRepo size: 4
2021-08-12T22:37:27.837Z,1628807847.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.660004 m,
      bearing: 254.279829 deg,
      approachRate: -0.637892 m/s,
      LOS rate: 0.388715 deg/s,
      cmd update: 1.166144 deg/s,
      cmd heading: 242.237805 deg,
      new cmd heading: 241.626325 deg.

2021-08-12T22:37:30.394Z,1628807850.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:30.633Z,1628807850.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:30.633Z,1628807850.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:30.633Z,1628807850.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:30.634Z,1628807850.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:31.042Z,1628807851.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,01636,186,80,80,75,FF
2021-08-12T22:37:31.042Z,1628807851.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:31.042Z,1628807851.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:31.044Z,1628807851.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:31.441Z,1628807851.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:31.472Z,1628807851.472 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:37:31.980Z,1628807851.980 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000
2021-08-12T22:37:31.981Z,1628807851.981 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:37:32.273Z,1628807852.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,015FC,186,80,80,65,FF
2021-08-12T22:37:32.273Z,1628807852.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:32.276Z,1628807852.276 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:37:32.685Z,1628807852.685 [Micromodem](INFO): Nmea in: $CADRQ,223733,1,10,0,64,1*72

2021-08-12T22:37:32.686Z,1628807852.686 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000*3D

2021-08-12T22:37:32.803Z,1628807852.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.179993 m, bearing: 253.184348 deg, deltaT: 5.003832 s, approachRate: -0.695469 m/s, LOS rate: -0.218928 deg/s, posRepo size: 4
2021-08-12T22:37:32.809Z,1628807852.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 300.179993 m,
      bearing: 253.184348 deg,
      approachRate: -0.695469 m/s,
      LOS rate: -0.218928 deg/s,
      cmd update: -0.656785 deg/s,
      cmd heading: 248.066755 deg,
      new cmd heading: 248.447240 deg.

2021-08-12T22:37:33.090Z,1628807853.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223732.57*59

2021-08-12T22:37:33.090Z,1628807853.090 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,223732.57*59

2021-08-12T22:37:34.301Z,1628807854.301 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:37:34.727Z,1628807854.727 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T22:37:35.094Z,1628807855.094 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T22:37:35.206Z,1628807855.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:35.501Z,1628807855.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:35.501Z,1628807855.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:35.501Z,1628807855.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:35.502Z,1628807855.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:35.515Z,1628807855.515 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,223734.229978,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-12T22:37:35.909Z,1628807855.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,015FC,186,80,80,65,FF
2021-08-12T22:37:35.909Z,1628807855.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:35.909Z,1628807855.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:35.911Z,1628807855.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:36.305Z,1628807856.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:37.140Z,1628807857.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223737.43*59

2021-08-12T22:37:37.921Z,1628807857.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,040E5,187,80,80,89,FF
2021-08-12T22:37:37.921Z,1628807857.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:38.384Z,1628807858.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 959.280090 m, bearing: 253.549190 deg, deltaT: 5.492851 s, approachRate: 119.992348 m/s, LOS rate: 0.066421 deg/s, posRepo size: 4
2021-08-12T22:37:38.386Z,1628807858.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 959.280090 m,
      bearing: 253.549190 deg,
      approachRate: 119.992348 m/s,
      LOS rate: 0.066421 deg/s,
      cmd update: 0.199263 deg/s,
      cmd heading: 244.453020 deg,
      new cmd heading: 244.187347 deg.

2021-08-12T22:37:40.824Z,1628807860.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:41.155Z,1628807861.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:41.155Z,1628807861.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:41.156Z,1628807861.156 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:41.158Z,1628807861.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:41.554Z,1628807861.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,040E5,187,80,80,89,FF
2021-08-12T22:37:41.554Z,1628807861.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:41.554Z,1628807861.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:41.556Z,1628807861.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:41.956Z,1628807861.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:42.810Z,1628807862.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223743.08*55

2021-08-12T22:37:43.350Z,1628807863.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:43.973Z,1628807863.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,05877,186,80,80,AC,FF
2021-08-12T22:37:43.973Z,1628807863.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:44.447Z,1628807864.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1321.319946 m, bearing: 255.046504 deg, deltaT: 6.011691 s, approachRate: 60.222633 m/s, LOS rate: 0.249067 deg/s, posRepo size: 4
2021-08-12T22:37:44.450Z,1628807864.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1321.319946 m,
      bearing: 255.046504 deg,
      approachRate: 60.222633 m/s,
      LOS rate: 0.249067 deg/s,
      cmd update: 0.747201 deg/s,
      cmd heading: 245.650939 deg,
      new cmd heading: 245.741923 deg.

2021-08-12T22:37:46.899Z,1628807866.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:47.209Z,1628807867.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:47.209Z,1628807867.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:47.209Z,1628807867.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:47.210Z,1628807867.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:47.625Z,1628807867.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,05877,186,80,80,AC,FF
2021-08-12T22:37:47.625Z,1628807867.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:47.625Z,1628807867.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:47.627Z,1628807867.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:48.026Z,1628807868.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:48.862Z,1628807868.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,0153C,186,80,80,9B,FF
2021-08-12T22:37:48.862Z,1628807868.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:48.866Z,1628807868.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223749.15*53

2021-08-12T22:37:49.290Z,1628807869.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.659973 m, bearing: 255.025740 deg, deltaT: 4.946735 s, approachRate: -208.755859 m/s, LOS rate: -0.004197 deg/s, posRepo size: 4
2021-08-12T22:37:49.292Z,1628807869.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.659973 m,
      bearing: 255.025740 deg,
      approachRate: -208.755859 m/s,
      LOS rate: -0.004197 deg/s,
      cmd update: -0.012592 deg/s,
      cmd heading: 249.344136 deg,
      new cmd heading: 249.610183 deg.

2021-08-12T22:37:51.812Z,1628807871.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:52.061Z,1628807872.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:52.061Z,1628807872.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:52.062Z,1628807872.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:52.063Z,1628807872.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:52.473Z,1628807872.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,0153C,186,80,80,9B,FF
2021-08-12T22:37:52.473Z,1628807872.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:52.473Z,1628807872.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:52.475Z,1628807872.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:52.881Z,1628807872.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:53.689Z,1628807873.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,01506,187,80,80,7C,FF
2021-08-12T22:37:53.689Z,1628807873.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:53.692Z,1628807873.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223754.00*5B

2021-08-12T22:37:54.168Z,1628807874.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.419983 m, bearing: 257.120832 deg, deltaT: 4.806411 s, approachRate: -0.674098 m/s, LOS rate: 0.435895 deg/s, posRepo size: 4
2021-08-12T22:37:54.170Z,1628807874.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.419983 m,
      bearing: 257.120832 deg,
      approachRate: -0.674098 m/s,
      LOS rate: 0.435895 deg/s,
      cmd update: 1.307686 deg/s,
      cmd heading: 249.283650 deg,
      new cmd heading: 249.278275 deg.

2021-08-12T22:37:56.605Z,1628807876.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:37:56.817Z,1628807876.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:37:56.817Z,1628807876.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:37:56.817Z,1628807876.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:37:56.818Z,1628807876.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:37:57.173Z,1628807877.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,01506,187,80,80,7C,FF
2021-08-12T22:37:57.173Z,1628807877.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:37:57.173Z,1628807877.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:37:57.178Z,1628807877.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:37:57.590Z,1628807877.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:37:58.417Z,1628807878.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,014D0,186,80,80,85,FF
2021-08-12T22:37:58.417Z,1628807878.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:37:58.420Z,1628807878.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223758.70*50

2021-08-12T22:37:58.889Z,1628807878.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.179993 m, bearing: 257.443053 deg, deltaT: 4.868913 s, approachRate: -0.665444 m/s, LOS rate: 0.066179 deg/s, posRepo size: 4
2021-08-12T22:37:58.891Z,1628807878.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.179993 m,
      bearing: 257.443053 deg,
      approachRate: -0.665444 m/s,
      LOS rate: 0.066179 deg/s,
      cmd update: 0.198538 deg/s,
      cmd heading: 255.659592 deg,
      new cmd heading: 256.021112 deg.

2021-08-12T22:38:01.278Z,1628807881.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:01.613Z,1628807881.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:01.613Z,1628807881.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:01.614Z,1628807881.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:01.615Z,1628807881.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:02.009Z,1628807882.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,014D0,186,80,80,85,FF
2021-08-12T22:38:02.009Z,1628807882.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:02.009Z,1628807882.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:02.011Z,1628807882.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:02.417Z,1628807882.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:03.254Z,1628807883.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223803.53*50

2021-08-12T22:38:04.029Z,1628807884.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,042A0,184,80,80,AB,FF
2021-08-12T22:38:04.029Z,1628807884.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:04.499Z,1628807884.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 985.860046 m, bearing: 256.449807 deg, deltaT: 5.490638 s, approachRate: 128.159973 m/s, LOS rate: -0.180898 deg/s, posRepo size: 4
2021-08-12T22:38:04.531Z,1628807884.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 985.860046 m,
      bearing: 256.449807 deg,
      approachRate: 128.159973 m/s,
      LOS rate: -0.180898 deg/s,
      cmd update: -0.542694 deg/s,
      cmd heading: 256.749746 deg,
      new cmd heading: 256.828357 deg.

2021-08-12T22:38:06.926Z,1628807886.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:07.267Z,1628807887.267 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:07.267Z,1628807887.267 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:07.267Z,1628807887.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:07.268Z,1628807887.268 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:07.665Z,1628807887.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,042A0,184,80,80,AB,FF
2021-08-12T22:38:07.665Z,1628807887.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:07.665Z,1628807887.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:07.667Z,1628807887.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:08.073Z,1628807888.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:08.913Z,1628807888.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,01450,184,80,80,83,FF
2021-08-12T22:38:08.914Z,1628807888.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:08.916Z,1628807888.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223809.19*54

2021-08-12T22:38:09.480Z,1628807889.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.500000 m, bearing: 255.525655 deg, deltaT: 4.900063 s, approachRate: -145.173660 m/s, LOS rate: -0.188600 deg/s, posRepo size: 4
2021-08-12T22:38:09.482Z,1628807889.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.500000 m,
      bearing: 255.525655 deg,
      approachRate: -145.173660 m/s,
      LOS rate: -0.188600 deg/s,
      cmd update: -0.565800 deg/s,
      cmd heading: 254.092676 deg,
      new cmd heading: 253.842880 deg.

2021-08-12T22:38:11.523Z,1628807891.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:11.745Z,1628807891.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:11.745Z,1628807891.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:11.745Z,1628807891.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:11.746Z,1628807891.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:12.170Z,1628807892.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,01450,184,80,80,83,FF
2021-08-12T22:38:12.170Z,1628807892.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:12.171Z,1628807892.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:12.197Z,1628807892.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:12.564Z,1628807892.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:13.370Z,1628807893.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0141A,187,80,80,8E,FF
2021-08-12T22:38:13.371Z,1628807893.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:13.398Z,1628807893.398 [Micromodem](INFO): Nmea in: $SNTTA,0.255451,,,,223813.72*4E

2021-08-12T22:38:13.823Z,1628807893.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.260010 m, bearing: 256.709655 deg, deltaT: 4.459186 s, approachRate: -0.726588 m/s, LOS rate: 0.265519 deg/s, posRepo size: 4
2021-08-12T22:38:13.825Z,1628807893.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.260010 m,
      bearing: 256.709655 deg,
      approachRate: -0.726588 m/s,
      LOS rate: 0.265519 deg/s,
      cmd update: 0.796558 deg/s,
      cmd heading: 251.569694 deg,
      new cmd heading: 251.363808 deg.

2021-08-12T22:38:16.274Z,1628807896.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:16.601Z,1628807896.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:16.601Z,1628807896.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:16.601Z,1628807896.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:16.602Z,1628807896.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:17.017Z,1628807897.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0141A,187,80,80,8E,FF
2021-08-12T22:38:17.017Z,1628807897.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:17.017Z,1628807897.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:17.019Z,1628807897.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:17.420Z,1628807897.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:18.245Z,1628807898.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,013E2,187,80,80,AB,FF
2021-08-12T22:38:18.246Z,1628807898.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:18.248Z,1628807898.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223818.54*5D

2021-08-12T22:38:18.667Z,1628807898.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.899994 m, bearing: 255.818861 deg, deltaT: 4.811461 s, approachRate: -0.698336 m/s, LOS rate: -0.185140 deg/s, posRepo size: 4
2021-08-12T22:38:18.678Z,1628807898.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.899994 m,
      bearing: 255.818861 deg,
      approachRate: -0.698336 m/s,
      LOS rate: -0.185140 deg/s,
      cmd update: -0.555420 deg/s,
      cmd heading: 255.405531 deg,
      new cmd heading: 255.718741 deg.

2021-08-12T22:38:20.292Z,1628807900.292 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-12T22:38:20.292Z,1628807900.292 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-12T22:38:20.292Z,1628807900.292 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-12T22:38:20.412Z,1628807900.412 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-12T22:38:20.730Z,1628807900.730 [RDI_PathfinderUp](INFO): Powering down
2021-08-12T22:38:20.802Z,1628807900.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:21.061Z,1628807901.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:21.061Z,1628807901.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:21.061Z,1628807901.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:21.062Z,1628807901.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:21.453Z,1628807901.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,013E2,187,80,80,AB,FF
2021-08-12T22:38:21.453Z,1628807901.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:21.454Z,1628807901.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:21.455Z,1628807901.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:21.680Z,1628807901.680 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-12T22:38:21.680Z,1628807901.680 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-12T22:38:21.862Z,1628807901.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:22.709Z,1628807902.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,013B4,184,80,80,AC,FF
2021-08-12T22:38:22.709Z,1628807902.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:22.730Z,1628807902.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223822.98*54

2021-08-12T22:38:23.125Z,1628807903.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.139984 m, bearing: 255.170540 deg, deltaT: 4.526140 s, approachRate: -0.609793 m/s, LOS rate: -0.143239 deg/s, posRepo size: 4
2021-08-12T22:38:23.127Z,1628807903.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.139984 m,
      bearing: 255.170540 deg,
      approachRate: -0.609793 m/s,
      LOS rate: -0.143239 deg/s,
      cmd update: -0.429718 deg/s,
      cmd heading: 252.893863 deg,
      new cmd heading: 252.711626 deg.

2021-08-12T22:38:25.554Z,1628807905.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:25.905Z,1628807905.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:25.905Z,1628807905.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:25.905Z,1628807905.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:25.906Z,1628807905.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:26.311Z,1628807906.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,013B4,184,80,80,AC,FF
2021-08-12T22:38:26.311Z,1628807906.311 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:26.311Z,1628807906.311 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:26.313Z,1628807906.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:26.755Z,1628807906.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:27.545Z,1628807907.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,01377,186,80,80,9F,FF
2021-08-12T22:38:27.545Z,1628807907.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:27.572Z,1628807907.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223827.84*5C

2021-08-12T22:38:27.963Z,1628807907.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.480011 m, bearing: 255.913664 deg, deltaT: 4.807091 s, approachRate: -0.761370 m/s, LOS rate: 0.154589 deg/s, posRepo size: 4
2021-08-12T22:38:27.966Z,1628807907.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.480011 m,
      bearing: 255.913664 deg,
      approachRate: -0.761370 m/s,
      LOS rate: 0.154589 deg/s,
      cmd update: 0.463768 deg/s,
      cmd heading: 250.828245 deg,
      new cmd heading: 250.673470 deg.

2021-08-12T22:38:30.391Z,1628807910.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:30.821Z,1628807910.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:30.821Z,1628807910.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:30.821Z,1628807910.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:30.822Z,1628807910.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:31.229Z,1628807911.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,01377,186,80,80,9F,FF
2021-08-12T22:38:31.229Z,1628807911.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:31.229Z,1628807911.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:31.231Z,1628807911.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:31.637Z,1628807911.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:32.461Z,1628807912.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,0133C,187,80,80,97,FF
2021-08-12T22:38:32.461Z,1628807912.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:32.464Z,1628807912.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223832.75*56

2021-08-12T22:38:32.906Z,1628807912.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.940002 m, bearing: 256.060513 deg, deltaT: 4.911392 s, approachRate: -0.720775 m/s, LOS rate: 0.029900 deg/s, posRepo size: 4
2021-08-12T22:38:32.907Z,1628807912.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.940002 m,
      bearing: 256.060513 deg,
      approachRate: -0.720775 m/s,
      LOS rate: 0.029900 deg/s,
      cmd update: 0.089699 deg/s,
      cmd heading: 253.106069 deg,
      new cmd heading: 253.287257 deg.

2021-08-12T22:38:35.088Z,1628807915.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:35.269Z,1628807915.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:35.269Z,1628807915.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:35.269Z,1628807915.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:35.270Z,1628807915.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:35.677Z,1628807915.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,0133C,187,80,80,97,FF
2021-08-12T22:38:35.677Z,1628807915.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:35.677Z,1628807915.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:35.679Z,1628807915.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:36.072Z,1628807916.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:36.901Z,1628807916.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,01309,187,80,80,97,FF
2021-08-12T22:38:36.901Z,1628807916.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:36.905Z,1628807916.905 [Micromodem](INFO): Nmea in: $SNTTA,0.475573,0.475392,,,223837.20*5A

2021-08-12T22:38:37.381Z,1628807917.381 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:38:37.413Z,1628807917.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.879990 m, bearing: 256.156191 deg, deltaT: 4.648844 s, approachRate: -0.658231 m/s, LOS rate: 0.020581 deg/s, posRepo size: 4
2021-08-12T22:38:37.415Z,1628807917.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.879990 m,
      bearing: 256.156191 deg,
      approachRate: -0.658231 m/s,
      LOS rate: 0.020581 deg/s,
      cmd update: 0.061743 deg/s,
      cmd heading: 253.523131 deg,
      new cmd heading: 253.545420 deg.

2021-08-12T22:38:37.915Z,1628807917.915 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000
2021-08-12T22:38:37.915Z,1628807917.915 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:38:38.209Z,1628807918.209 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:38:38.611Z,1628807918.611 [Micromodem](INFO): Nmea in: $CADRQ,223839,1,10,0,64,1*77

2021-08-12T22:38:38.611Z,1628807918.611 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15610A0000005D00000400260000000000000000151D80030C5669C08C79986CD6F90745516616E64F3BE82874A43A5028BB890C17B4087A0000*3D

2021-08-12T22:38:39.045Z,1628807919.045 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:38:39.406Z,1628807919.406 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T22:38:39.833Z,1628807919.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:40.209Z,1628807920.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:40.209Z,1628807920.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:40.210Z,1628807920.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:40.211Z,1628807920.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:40.645Z,1628807920.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,01309,187,80,80,97,FF
2021-08-12T22:38:40.645Z,1628807920.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:40.645Z,1628807920.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:40.646Z,1628807920.646 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T22:38:40.647Z,1628807920.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:41.053Z,1628807921.053 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,223840.158032,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-12T22:38:41.053Z,1628807921.053 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,223840.158032,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*50

2021-08-12T22:38:41.484Z,1628807921.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:41.899Z,1628807921.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223842.17*55

2021-08-12T22:38:42.355Z,1628807922.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:43.095Z,1628807923.095 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T22:38:43.096Z,1628807923.096 [Micromodem](INFO): Sent 52 bytes from file Logs/20210812T221831/Courier0010.lzma.parts
2021-08-12T22:38:43.096Z,1628807923.096 [Micromodem](INFO): Packets left to send: 0
2021-08-12T22:38:43.598Z,1628807923.598 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812223843.295434,06,10245,40,0159,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,11.5,9.16,20,-6.16,-01,-0.87,38,14500,4000*49

2021-08-12T22:38:43.715Z,1628807923.715 [CTD_Seabird](ERROR): Failed to parse device response: 6.15,24.0304,4.763.46
2021-08-12T22:38:43.786Z,1628807923.786 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T22:38:43.786Z,1628807923.786 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T22:38:43.786Z,1628807923.786 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T22:38:43.786Z,1628807923.786 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:38:43.786Z,1628807923.786 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T22:38:43.996Z,1628807923.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,97,FF
2021-08-12T22:38:43.997Z,1628807923.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,97,FF
2021-08-12T22:38:43.998Z,1628807923.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:38:44.889Z,1628807924.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:45.193Z,1628807925.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:45.193Z,1628807925.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:45.193Z,1628807925.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:45.194Z,1628807925.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:45.598Z,1628807925.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,97,FF
2021-08-12T22:38:45.598Z,1628807925.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:45.598Z,1628807925.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:45.599Z,1628807925.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:46.044Z,1628807926.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:46.846Z,1628807926.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,01293,186,80,80,9A,FF
2021-08-12T22:38:46.847Z,1628807926.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:46.851Z,1628807926.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223847.12*55

2021-08-12T22:38:47.259Z,1628807927.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.799988 m, bearing: 255.993824 deg, deltaT: 9.779248 s, approachRate: -0.723982 m/s, LOS rate: -0.016603 deg/s, posRepo size: 4
2021-08-12T22:38:47.261Z,1628807927.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.799988 m,
      bearing: 255.993824 deg,
      approachRate: -0.723982 m/s,
      LOS rate: -0.016603 deg/s,
      cmd update: -0.049810 deg/s,
      cmd heading: 254.126922 deg,
      new cmd heading: 254.146400 deg.

2021-08-12T22:38:49.674Z,1628807929.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:50.057Z,1628807930.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:50.057Z,1628807930.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:50.057Z,1628807930.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:50.058Z,1628807930.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:50.449Z,1628807930.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,01293,186,80,80,9A,FF
2021-08-12T22:38:50.450Z,1628807930.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:50.450Z,1628807930.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:50.451Z,1628807930.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:50.856Z,1628807930.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:51.689Z,1628807931.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,0125C,185,80,80,7C,FF
2021-08-12T22:38:51.690Z,1628807931.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:51.693Z,1628807931.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223851.97*5F

2021-08-12T22:38:52.101Z,1628807932.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.499985 m, bearing: 256.063601 deg, deltaT: 4.807406 s, approachRate: -0.686442 m/s, LOS rate: 0.014515 deg/s, posRepo size: 4
2021-08-12T22:38:52.103Z,1628807932.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.499985 m,
      bearing: 256.063601 deg,
      approachRate: -0.686442 m/s,
      LOS rate: 0.014515 deg/s,
      cmd update: 0.043544 deg/s,
      cmd heading: 253.887498 deg,
      new cmd heading: 253.870037 deg.

2021-08-12T22:38:54.510Z,1628807934.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:54.905Z,1628807934.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:54.905Z,1628807934.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:54.905Z,1628807934.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:54.906Z,1628807934.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:38:55.309Z,1628807935.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,0125C,185,80,80,7C,FF
2021-08-12T22:38:55.309Z,1628807935.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:38:55.310Z,1628807935.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:38:55.311Z,1628807935.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:38:55.701Z,1628807935.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:38:56.533Z,1628807936.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,01221,184,80,80,AE,FF
2021-08-12T22:38:56.533Z,1628807936.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:38:56.536Z,1628807936.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223856.83*5D

2021-08-12T22:38:57.016Z,1628807937.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.960007 m, bearing: 256.186435 deg, deltaT: 4.817698 s, approachRate: -0.734786 m/s, LOS rate: 0.025496 deg/s, posRepo size: 4
2021-08-12T22:38:57.018Z,1628807937.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.960007 m,
      bearing: 256.186435 deg,
      approachRate: -0.734786 m/s,
      LOS rate: 0.025496 deg/s,
      cmd update: 0.076489 deg/s,
      cmd heading: 254.096549 deg,
      new cmd heading: 254.116788 deg.

2021-08-12T22:38:59.378Z,1628807939.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:38:59.741Z,1628807939.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:38:59.741Z,1628807939.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:38:59.741Z,1628807939.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:38:59.742Z,1628807939.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:00.158Z,1628807940.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,01221,184,80,80,AE,FF
2021-08-12T22:39:00.158Z,1628807940.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:00.158Z,1628807940.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:00.160Z,1628807940.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:00.565Z,1628807940.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:01.393Z,1628807941.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,011EB,184,80,80,B4,FF
2021-08-12T22:39:01.394Z,1628807941.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:01.397Z,1628807941.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223901.68*5B

2021-08-12T22:39:01.800Z,1628807941.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.719986 m, bearing: 254.574838 deg, deltaT: 4.868094 s, approachRate: -0.665563 m/s, LOS rate: -0.331053 deg/s, posRepo size: 4
2021-08-12T22:39:01.802Z,1628807941.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.719986 m,
      bearing: 254.574838 deg,
      approachRate: -0.665563 m/s,
      LOS rate: -0.331053 deg/s,
      cmd update: -0.993159 deg/s,
      cmd heading: 254.470448 deg,
      new cmd heading: 254.498015 deg.

2021-08-12T22:39:04.242Z,1628807944.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:04.595Z,1628807944.595 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:04.595Z,1628807944.595 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:04.595Z,1628807944.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:04.597Z,1628807944.597 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:05.013Z,1628807945.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,011EB,184,80,80,B4,FF
2021-08-12T22:39:05.013Z,1628807945.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:05.014Z,1628807945.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:05.015Z,1628807945.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:05.409Z,1628807945.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:06.219Z,1628807946.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,011AA,184,80,80,9D,FF
2021-08-12T22:39:06.219Z,1628807946.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:06.229Z,1628807946.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223906.54*53

2021-08-12T22:39:06.651Z,1628807946.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.819977 m, bearing: 254.743434 deg, deltaT: 4.845041 s, approachRate: -0.804949 m/s, LOS rate: 0.034798 deg/s, posRepo size: 4
2021-08-12T22:39:06.654Z,1628807946.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.819977 m,
      bearing: 254.743434 deg,
      approachRate: -0.804949 m/s,
      LOS rate: 0.034798 deg/s,
      cmd update: 0.104393 deg/s,
      cmd heading: 249.670158 deg,
      new cmd heading: 249.294258 deg.

2021-08-12T22:39:09.110Z,1628807949.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:09.447Z,1628807949.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:09.447Z,1628807949.447 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:09.447Z,1628807949.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:09.448Z,1628807949.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:09.842Z,1628807949.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,011AA,184,80,80,9D,FF
2021-08-12T22:39:09.842Z,1628807949.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:09.842Z,1628807949.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:09.845Z,1628807949.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:10.254Z,1628807950.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:11.078Z,1628807951.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,01173,187,80,80,A0,FF
2021-08-12T22:39:11.078Z,1628807951.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:11.081Z,1628807951.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223911.37*50

2021-08-12T22:39:11.496Z,1628807951.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.519989 m, bearing: 257.416689 deg, deltaT: 4.933896 s, approachRate: -0.668840 m/s, LOS rate: 0.541814 deg/s, posRepo size: 4
2021-08-12T22:39:11.498Z,1628807951.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.519989 m,
      bearing: 257.416689 deg,
      approachRate: -0.668840 m/s,
      LOS rate: 0.541814 deg/s,
      cmd update: 1.625442 deg/s,
      cmd heading: 250.186503 deg,
      new cmd heading: 250.215379 deg.

2021-08-12T22:39:13.907Z,1628807953.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:14.289Z,1628807954.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:14.290Z,1628807954.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:14.290Z,1628807954.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:14.291Z,1628807954.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:14.705Z,1628807954.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,01173,187,80,80,A0,FF
2021-08-12T22:39:14.705Z,1628807954.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:14.705Z,1628807954.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:14.707Z,1628807954.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:14.712Z,1628807954.712 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T22:39:15.096Z,1628807955.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:15.941Z,1628807955.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0113A,187,80,80,A8,FF
2021-08-12T22:39:15.942Z,1628807955.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:15.945Z,1628807955.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223916.23*52

2021-08-12T22:39:16.483Z,1628807956.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.100006 m, bearing: 256.480953 deg, deltaT: 4.797640 s, approachRate: -0.712847 m/s, LOS rate: -0.195041 deg/s, posRepo size: 4
2021-08-12T22:39:16.501Z,1628807956.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.100006 m,
      bearing: 256.480953 deg,
      approachRate: -0.712847 m/s,
      LOS rate: -0.195041 deg/s,
      cmd update: -0.585123 deg/s,
      cmd heading: 257.897204 deg,
      new cmd heading: 258.742268 deg.

2021-08-12T22:39:19.043Z,1628807959.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:19.209Z,1628807959.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:19.209Z,1628807959.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:19.209Z,1628807959.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:19.210Z,1628807959.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:19.637Z,1628807959.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0113A,187,80,80,A8,FF
2021-08-12T22:39:19.637Z,1628807959.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:19.638Z,1628807959.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:19.639Z,1628807959.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:20.044Z,1628807960.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:20.842Z,1628807960.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,01100,182,80,80,A2,FF
2021-08-12T22:39:20.843Z,1628807960.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:20.847Z,1628807960.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223921.16*50

2021-08-12T22:39:21.294Z,1628807961.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.619995 m, bearing: 254.773679 deg, deltaT: 4.944564 s, approachRate: -0.703805 m/s, LOS rate: -0.345283 deg/s, posRepo size: 4
2021-08-12T22:39:21.300Z,1628807961.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.619995 m,
      bearing: 254.773679 deg,
      approachRate: -0.703805 m/s,
      LOS rate: -0.345283 deg/s,
      cmd update: -1.035849 deg/s,
      cmd heading: 254.979770 deg,
      new cmd heading: 254.777963 deg.

2021-08-12T22:39:23.698Z,1628807963.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:24.057Z,1628807964.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:24.057Z,1628807964.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:24.057Z,1628807964.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:24.058Z,1628807964.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:24.457Z,1628807964.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,01100,182,80,80,A2,FF
2021-08-12T22:39:24.457Z,1628807964.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:24.458Z,1628807964.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:24.459Z,1628807964.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:24.875Z,1628807964.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:25.693Z,1628807965.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,010C3,185,80,80,9B,FF
2021-08-12T22:39:25.694Z,1628807965.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:25.697Z,1628807965.697 [Micromodem](INFO): Nmea in: $SNTTA,0.146419,,,,223925.98*43

2021-08-12T22:39:26.128Z,1628807966.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.959976 m, bearing: 254.826244 deg, deltaT: 4.751088 s, approachRate: -0.770354 m/s, LOS rate: 0.011064 deg/s, posRepo size: 4
2021-08-12T22:39:26.130Z,1628807966.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.959976 m,
      bearing: 254.826244 deg,
      approachRate: -0.770354 m/s,
      LOS rate: 0.011064 deg/s,
      cmd update: 0.033191 deg/s,
      cmd heading: 250.045484 deg,
      new cmd heading: 249.618701 deg.

2021-08-12T22:39:28.534Z,1628807968.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:28.925Z,1628807968.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:28.925Z,1628807968.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:28.925Z,1628807968.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:28.926Z,1628807968.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:29.341Z,1628807969.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,010C3,185,80,80,9B,FF
2021-08-12T22:39:29.341Z,1628807969.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:29.341Z,1628807969.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:29.343Z,1628807969.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:29.740Z,1628807969.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:30.573Z,1628807970.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,01089,186,80,80,9D,FF
2021-08-12T22:39:30.574Z,1628807970.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:30.577Z,1628807970.577 [Micromodem](INFO): Nmea in: $SNTTA,0.146388,,,,223930.86*47

2021-08-12T22:39:31.058Z,1628807971.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.479996 m, bearing: 253.312947 deg, deltaT: 4.899603 s, approachRate: -0.710258 m/s, LOS rate: -0.308861 deg/s, posRepo size: 4
2021-08-12T22:39:31.060Z,1628807971.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.479996 m,
      bearing: 253.312947 deg,
      approachRate: -0.710258 m/s,
      LOS rate: -0.308861 deg/s,
      cmd update: -0.926583 deg/s,
      cmd heading: 250.207441 deg,
      new cmd heading: 250.222908 deg.

2021-08-12T22:39:33.410Z,1628807973.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:33.777Z,1628807973.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:33.777Z,1628807973.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:33.777Z,1628807973.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:33.778Z,1628807973.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:34.194Z,1628807974.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,01089,186,80,80,9D,FF
2021-08-12T22:39:34.194Z,1628807974.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:34.194Z,1628807974.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:34.195Z,1628807974.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:34.617Z,1628807974.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:35.045Z,1628807975.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,01089,186,80,80,9D,FF
2021-08-12T22:39:35.046Z,1628807975.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:35.433Z,1628807975.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223935.72*57

2021-08-12T22:39:35.455Z,1628807975.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.479996 m, bearing: 253.151317 deg, deltaT: 4.540093 s, approachRate: 0.000000 m/s, LOS rate: -0.035601 deg/s, posRepo size: 4
2021-08-12T22:39:35.458Z,1628807975.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.479996 m,
      bearing: 253.151317 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.035601 deg/s,
      cmd update: -0.106802 deg/s,
      cmd heading: 245.985807 deg,
      new cmd heading: 245.700984 deg.

2021-08-12T22:39:37.838Z,1628807977.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:38.230Z,1628807978.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:38.230Z,1628807978.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:38.231Z,1628807978.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:38.231Z,1628807978.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:38.625Z,1628807978.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,01089,186,80,80,9D,FF
2021-08-12T22:39:38.625Z,1628807978.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:38.625Z,1628807978.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:38.627Z,1628807978.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:39.069Z,1628807979.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:39.869Z,1628807979.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,01018,187,80,80,AB,FF
2021-08-12T22:39:39.869Z,1628807979.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:39.874Z,1628807979.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223940.15*54

2021-08-12T22:39:40.295Z,1628807980.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.699997 m, bearing: 255.367413 deg, deltaT: 4.738720 s, approachRate: -1.430766 m/s, LOS rate: 0.467657 deg/s, posRepo size: 4
2021-08-12T22:39:40.297Z,1628807980.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.699997 m,
      bearing: 255.367413 deg,
      approachRate: -1.430766 m/s,
      LOS rate: 0.467657 deg/s,
      cmd update: 1.402971 deg/s,
      cmd heading: 245.479269 deg,
      new cmd heading: 245.436097 deg.

2021-08-12T22:39:42.710Z,1628807982.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:43.074Z,1628807983.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:43.074Z,1628807983.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:43.074Z,1628807983.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:43.075Z,1628807983.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:43.473Z,1628807983.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,01018,187,80,80,AB,FF
2021-08-12T22:39:43.473Z,1628807983.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:43.473Z,1628807983.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:43.475Z,1628807983.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:43.899Z,1628807983.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:44.741Z,1628807984.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00FE2,186,80,80,9D,FF
2021-08-12T22:39:44.742Z,1628807984.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:44.786Z,1628807984.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223945.00*55

2021-08-12T22:39:45.169Z,1628807985.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.459991 m, bearing: 255.645429 deg, deltaT: 4.983263 s, approachRate: -0.650177 m/s, LOS rate: 0.055790 deg/s, posRepo size: 4
2021-08-12T22:39:45.171Z,1628807985.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.459991 m,
      bearing: 255.645429 deg,
      approachRate: -0.650177 m/s,
      LOS rate: 0.055790 deg/s,
      cmd update: 0.167370 deg/s,
      cmd heading: 252.454543 deg,
      new cmd heading: 252.885146 deg.

2021-08-12T22:39:47.558Z,1628807987.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:47.955Z,1628807987.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:47.955Z,1628807987.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:47.956Z,1628807987.956 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:47.957Z,1628807987.957 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:48.349Z,1628807988.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00FE2,186,80,80,9D,FF
2021-08-12T22:39:48.349Z,1628807988.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:48.349Z,1628807988.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:48.351Z,1628807988.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:48.797Z,1628807988.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:49.586Z,1628807989.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00FA8,187,80,80,9D,FF
2021-08-12T22:39:49.586Z,1628807989.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:49.591Z,1628807989.591 [Micromodem](INFO): Nmea in: $SNTTA,0.137339,,,,223949.87*44

2021-08-12T22:39:50.029Z,1628807990.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.979996 m, bearing: 255.909102 deg, deltaT: 4.804580 s, approachRate: -0.724308 m/s, LOS rate: 0.054879 deg/s, posRepo size: 4
2021-08-12T22:39:50.031Z,1628807990.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.979996 m,
      bearing: 255.909102 deg,
      approachRate: -0.724308 m/s,
      LOS rate: 0.054879 deg/s,
      cmd update: 0.164638 deg/s,
      cmd heading: 253.259869 deg,
      new cmd heading: 253.318552 deg.

2021-08-12T22:39:52.406Z,1628807992.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:52.822Z,1628807992.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:52.822Z,1628807992.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:52.822Z,1628807992.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:52.823Z,1628807992.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:53.205Z,1628807993.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00FA8,187,80,80,9D,FF
2021-08-12T22:39:53.205Z,1628807993.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:53.205Z,1628807993.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:53.207Z,1628807993.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:53.610Z,1628807993.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:54.439Z,1628807994.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00F6E,186,80,80,B5,FF
2021-08-12T22:39:54.440Z,1628807994.440 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:54.449Z,1628807994.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223954.73*51

2021-08-12T22:39:54.915Z,1628807994.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.500000 m, bearing: 256.957181 deg, deltaT: 4.817624 s, approachRate: -0.722347 m/s, LOS rate: 0.217551 deg/s, posRepo size: 4
2021-08-12T22:39:54.921Z,1628807994.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.500000 m,
      bearing: 256.957181 deg,
      approachRate: -0.722347 m/s,
      LOS rate: 0.217551 deg/s,
      cmd update: 0.652653 deg/s,
      cmd heading: 254.049766 deg,
      new cmd heading: 254.122628 deg.

2021-08-12T22:39:57.270Z,1628807997.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:39:57.649Z,1628807997.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:39:57.650Z,1628807997.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:39:57.650Z,1628807997.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:39:57.651Z,1628807997.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:39:58.053Z,1628807998.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00F6E,186,80,80,B5,FF
2021-08-12T22:39:58.053Z,1628807998.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:39:58.053Z,1628807998.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:39:58.055Z,1628807998.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:39:58.457Z,1628807998.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:39:59.282Z,1628807999.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00F3A,185,80,80,A9,FF
2021-08-12T22:39:59.282Z,1628807999.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:39:59.285Z,1628807999.285 [Micromodem](INFO): Nmea in: $SNTTA,,0.247166,,,223959.58*4B

2021-08-12T22:39:59.717Z,1628807999.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.379990 m, bearing: 256.514038 deg, deltaT: 4.814692 s, approachRate: -0.648019 m/s, LOS rate: -0.092040 deg/s, posRepo size: 4
2021-08-12T22:39:59.719Z,1628807999.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.379990 m,
      bearing: 256.514038 deg,
      approachRate: -0.648019 m/s,
      LOS rate: -0.092040 deg/s,
      cmd update: -0.276119 deg/s,
      cmd heading: 257.207862 deg,
      new cmd heading: 257.472556 deg.

2021-08-12T22:40:02.158Z,1628808002.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:02.493Z,1628808002.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:02.493Z,1628808002.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:02.493Z,1628808002.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:02.494Z,1628808002.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:02.909Z,1628808002.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00F3A,185,80,80,A9,FF
2021-08-12T22:40:02.909Z,1628808002.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:02.909Z,1628808002.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:02.911Z,1628808002.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:03.301Z,1628808003.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:04.133Z,1628808004.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00F03,184,80,80,9A,FF
2021-08-12T22:40:04.133Z,1628808004.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:04.136Z,1628808004.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224004.43*59

2021-08-12T22:40:04.548Z,1628808004.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.080002 m, bearing: 256.302630 deg, deltaT: 4.894598 s, approachRate: -0.674210 m/s, LOS rate: -0.043192 deg/s, posRepo size: 4
2021-08-12T22:40:04.550Z,1628808004.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 256.302630 deg,
      approachRate: -0.674210 m/s,
      LOS rate: -0.043192 deg/s,
      cmd update: -0.129576 deg/s,
      cmd heading: 255.859336 deg,
      new cmd heading: 255.761911 deg.

2021-08-12T22:40:07.035Z,1628808007.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:07.341Z,1628808007.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:07.341Z,1628808007.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:07.341Z,1628808007.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:07.342Z,1628808007.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:07.745Z,1628808007.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00F03,184,80,80,9A,FF
2021-08-12T22:40:07.745Z,1628808007.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:07.745Z,1628808007.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:07.747Z,1628808007.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:08.153Z,1628808008.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:08.985Z,1628808008.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00EC9,184,80,80,AE,FF
2021-08-12T22:40:08.986Z,1628808008.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:09.008Z,1628808009.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224009.27*56

2021-08-12T22:40:09.391Z,1628808009.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 257.507448 deg, deltaT: 4.886026 s, approachRate: -0.712238 m/s, LOS rate: 0.246584 deg/s, posRepo size: 4
2021-08-12T22:40:09.394Z,1628808009.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.599991 m,
      bearing: 257.507448 deg,
      approachRate: -0.712238 m/s,
      LOS rate: 0.246584 deg/s,
      cmd update: 0.739753 deg/s,
      cmd heading: 255.225229 deg,
      new cmd heading: 255.185965 deg.

2021-08-12T22:40:11.798Z,1628808011.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:12.188Z,1628808012.188 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:12.188Z,1628808012.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:12.189Z,1628808012.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:12.189Z,1628808012.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:12.593Z,1628808012.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00EC9,184,80,80,AE,FF
2021-08-12T22:40:12.593Z,1628808012.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:12.593Z,1628808012.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:12.595Z,1628808012.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:13.015Z,1628808013.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:13.801Z,1628808013.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00E91,184,80,80,B1,FF
2021-08-12T22:40:13.801Z,1628808013.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:14.256Z,1628808014.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.240005 m, bearing: 257.497995 deg, deltaT: 4.762116 s, approachRate: -0.705566 m/s, LOS rate: -0.001985 deg/s, posRepo size: 4
2021-08-12T22:40:14.258Z,1628808014.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.240005 m,
      bearing: 257.497995 deg,
      approachRate: -0.705566 m/s,
      LOS rate: -0.001985 deg/s,
      cmd update: -0.005955 deg/s,
      cmd heading: 258.742338 deg,
      new cmd heading: 259.047834 deg.

2021-08-12T22:40:16.240Z,1628808016.240 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:40:16.654Z,1628808016.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:17.058Z,1628808017.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:17.058Z,1628808017.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:17.058Z,1628808017.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:17.059Z,1628808017.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:17.445Z,1628808017.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00E91,184,80,80,B1,FF
2021-08-12T22:40:17.445Z,1628808017.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:17.445Z,1628808017.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:17.447Z,1628808017.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:17.859Z,1628808017.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:18.665Z,1628808018.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00E57,185,80,80,A8,FF
2021-08-12T22:40:18.666Z,1628808018.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:18.669Z,1628808018.669 [Micromodem](INFO): Nmea in: $SNTTA,0.124429,,,,224018.97*4B

2021-08-12T22:40:19.127Z,1628808019.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.760010 m, bearing: 257.447233 deg, deltaT: 4.927795 s, approachRate: -0.706197 m/s, LOS rate: -0.010301 deg/s, posRepo size: 4
2021-08-12T22:40:19.129Z,1628808019.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.760010 m,
      bearing: 257.447233 deg,
      approachRate: -0.706197 m/s,
      LOS rate: -0.010301 deg/s,
      cmd update: -0.030903 deg/s,
      cmd heading: 258.713154 deg,
      new cmd heading: 258.710872 deg.

2021-08-12T22:40:21.498Z,1628808021.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:21.889Z,1628808021.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:21.889Z,1628808021.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:21.889Z,1628808021.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:21.890Z,1628808021.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:22.285Z,1628808022.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00E57,185,80,80,A8,FF
2021-08-12T22:40:22.285Z,1628808022.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:22.285Z,1628808022.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:22.287Z,1628808022.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:22.693Z,1628808022.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:23.094Z,1628808023.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00E57,185,80,80,A8,FF
2021-08-12T22:40:23.094Z,1628808023.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:23.538Z,1628808023.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224023.81*52

2021-08-12T22:40:23.559Z,1628808023.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.760010 m, bearing: 255.139476 deg, deltaT: 4.404599 s, approachRate: 0.000000 m/s, LOS rate: -0.523943 deg/s, posRepo size: 4
2021-08-12T22:40:23.562Z,1628808023.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.760010 m,
      bearing: 255.139476 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.523943 deg/s,
      cmd update: -1.571828 deg/s,
      cmd heading: 258.575865 deg,
      new cmd heading: 258.564328 deg.

2021-08-12T22:40:25.939Z,1628808025.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:26.325Z,1628808026.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:26.325Z,1628808026.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:26.325Z,1628808026.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:26.326Z,1628808026.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:26.740Z,1628808026.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00E57,185,80,80,A8,FF
2021-08-12T22:40:26.741Z,1628808026.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:26.741Z,1628808026.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:26.768Z,1628808026.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:27.150Z,1628808027.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:27.947Z,1628808027.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:27.948Z,1628808027.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:27.954Z,1628808027.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224028.29*5B

2021-08-12T22:40:28.384Z,1628808028.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.160019 m, bearing: 254.708764 deg, deltaT: 4.831296 s, approachRate: -1.366091 m/s, LOS rate: -0.089150 deg/s, posRepo size: 4
2021-08-12T22:40:28.386Z,1628808028.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 254.708764 deg,
      approachRate: -1.366091 m/s,
      LOS rate: -0.089150 deg/s,
      cmd update: -0.267451 deg/s,
      cmd heading: 250.988286 deg,
      new cmd heading: 250.406392 deg.

2021-08-12T22:40:30.889Z,1628808030.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:31.177Z,1628808031.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:31.177Z,1628808031.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:31.177Z,1628808031.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:31.178Z,1628808031.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:31.577Z,1628808031.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:31.577Z,1628808031.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:31.578Z,1628808031.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:31.579Z,1628808031.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:32.013Z,1628808032.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:32.394Z,1628808032.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:32.394Z,1628808032.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:32.850Z,1628808032.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224033.10*5B

2021-08-12T22:40:32.922Z,1628808032.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.160019 m, bearing: 257.633807 deg, deltaT: 4.425144 s, approachRate: 0.000000 m/s, LOS rate: 0.661005 deg/s, posRepo size: 4
2021-08-12T22:40:32.928Z,1628808032.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 257.633807 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.661005 deg/s,
      cmd update: 1.983015 deg/s,
      cmd heading: 249.804771 deg,
      new cmd heading: 249.675548 deg.

2021-08-12T22:40:35.250Z,1628808035.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:35.617Z,1628808035.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:35.618Z,1628808035.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:35.618Z,1628808035.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:35.619Z,1628808035.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:36.061Z,1628808036.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:36.061Z,1628808036.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:36.061Z,1628808036.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:36.063Z,1628808036.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:36.437Z,1628808036.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:36.854Z,1628808036.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:36.854Z,1628808036.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:37.269Z,1628808037.269 [Micromodem](INFO): Nmea in: $SNTTA,0.115126,,,,224037.58*4D

2021-08-12T22:40:37.319Z,1628808037.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.160019 m, bearing: 257.006686 deg, deltaT: 4.486572 s, approachRate: 0.000000 m/s, LOS rate: -0.139777 deg/s, posRepo size: 4
2021-08-12T22:40:37.325Z,1628808037.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 257.006686 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.139777 deg/s,
      cmd update: -0.419332 deg/s,
      cmd heading: 258.693500 deg,
      new cmd heading: 259.482449 deg.

2021-08-12T22:40:39.710Z,1628808039.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:40.069Z,1628808040.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:40.069Z,1628808040.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:40.069Z,1628808040.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:40.070Z,1628808040.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:40.465Z,1628808040.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,00DE9,182,80,80,5C,FF
2021-08-12T22:40:40.465Z,1628808040.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:40.465Z,1628808040.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:40.467Z,1628808040.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:40.892Z,1628808040.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:41.278Z,1628808041.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00D4A,183,80,80,5C,FF
2021-08-12T22:40:41.278Z,1628808041.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:41.713Z,1628808041.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224041.99*5F

2021-08-12T22:40:41.748Z,1628808041.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.619995 m, bearing: 256.500706 deg, deltaT: 4.413682 s, approachRate: -2.161466 m/s, LOS rate: -0.114639 deg/s, posRepo size: 4
2021-08-12T22:40:41.750Z,1628808041.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.619995 m,
      bearing: 256.500706 deg,
      approachRate: -2.161466 m/s,
      LOS rate: -0.114639 deg/s,
      cmd update: -0.343917 deg/s,
      cmd heading: 256.841169 deg,
      new cmd heading: 256.669479 deg.

2021-08-12T22:40:44.151Z,1628808044.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:44.505Z,1628808044.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:44.505Z,1628808044.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:44.505Z,1628808044.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:44.506Z,1628808044.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:44.926Z,1628808044.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00D4A,183,80,80,5C,FF
2021-08-12T22:40:44.926Z,1628808044.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:44.926Z,1628808044.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:44.929Z,1628808044.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:45.321Z,1628808045.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:45.715Z,1628808045.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00D4A,183,80,80,5C,FF
2021-08-12T22:40:45.715Z,1628808045.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:46.149Z,1628808046.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224046.45*59

2021-08-12T22:40:46.193Z,1628808046.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.619995 m, bearing: 256.787956 deg, deltaT: 4.435575 s, approachRate: 0.000000 m/s, LOS rate: 0.064761 deg/s, posRepo size: 4
2021-08-12T22:40:46.195Z,1628808046.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.619995 m,
      bearing: 256.787956 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.064761 deg/s,
      cmd update: 0.194282 deg/s,
      cmd heading: 255.315523 deg,
      new cmd heading: 255.171649 deg.

2021-08-12T22:40:48.562Z,1628808048.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:48.949Z,1628808048.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:48.949Z,1628808048.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:48.950Z,1628808048.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:48.951Z,1628808048.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:49.361Z,1628808049.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00D4A,183,80,80,5C,FF
2021-08-12T22:40:49.361Z,1628808049.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:49.361Z,1628808049.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:49.363Z,1628808049.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:49.771Z,1628808049.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:50.166Z,1628808050.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00CDE,183,80,80,5C,FF
2021-08-12T22:40:50.166Z,1628808050.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:50.612Z,1628808050.612 [Micromodem](INFO): Nmea in: $SNTTA,0.106487,,,,224050.89*4C

2021-08-12T22:40:50.639Z,1628808050.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.139999 m, bearing: 255.792360 deg, deltaT: 4.447754 s, approachRate: -1.456914 m/s, LOS rate: -0.223842 deg/s, posRepo size: 4
2021-08-12T22:40:50.641Z,1628808050.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.139999 m,
      bearing: 255.792360 deg,
      approachRate: -1.456914 m/s,
      LOS rate: -0.223842 deg/s,
      cmd update: -0.671527 deg/s,
      cmd heading: 256.179639 deg,
      new cmd heading: 256.260628 deg.

2021-08-12T22:40:53.103Z,1628808053.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:53.393Z,1628808053.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:53.394Z,1628808053.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:53.394Z,1628808053.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:53.395Z,1628808053.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:53.806Z,1628808053.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00CDE,183,80,80,5C,FF
2021-08-12T22:40:53.806Z,1628808053.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:53.806Z,1628808053.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:53.808Z,1628808053.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:54.213Z,1628808054.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:54.235Z,1628808054.235 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T22:40:54.609Z,1628808054.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00CA7,183,80,80,5C,FF
2021-08-12T22:40:54.610Z,1628808054.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:55.057Z,1628808055.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224055.33*5A

2021-08-12T22:40:55.103Z,1628808055.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.839996 m, bearing: 255.584559 deg, deltaT: 4.467666 s, approachRate: -0.738641 m/s, LOS rate: -0.046512 deg/s, posRepo size: 4
2021-08-12T22:40:55.125Z,1628808055.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.839996 m,
      bearing: 255.584559 deg,
      approachRate: -0.738641 m/s,
      LOS rate: -0.046512 deg/s,
      cmd update: -0.139537 deg/s,
      cmd heading: 253.218536 deg,
      new cmd heading: 252.902062 deg.

2021-08-12T22:40:57.467Z,1628808057.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:40:57.846Z,1628808057.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:40:57.846Z,1628808057.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:40:57.846Z,1628808057.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:40:57.847Z,1628808057.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:40:58.245Z,1628808058.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00CA7,183,80,80,5C,FF
2021-08-12T22:40:58.245Z,1628808058.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:40:58.245Z,1628808058.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:40:58.247Z,1628808058.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:40:58.649Z,1628808058.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:40:59.069Z,1628808059.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00C75,184,80,80,93,FF
2021-08-12T22:40:59.069Z,1628808059.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:40:59.498Z,1628808059.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224059.77*56

2021-08-12T22:40:59.527Z,1628808059.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.840012 m, bearing: 256.986496 deg, deltaT: 4.466330 s, approachRate: -0.671689 m/s, LOS rate: 0.313890 deg/s, posRepo size: 4
2021-08-12T22:40:59.531Z,1628808059.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.840012 m,
      bearing: 256.986496 deg,
      approachRate: -0.671689 m/s,
      LOS rate: 0.313890 deg/s,
      cmd update: 0.941671 deg/s,
      cmd heading: 252.587210 deg,
      new cmd heading: 252.535667 deg.

2021-08-12T22:41:01.908Z,1628808061.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:02.281Z,1628808062.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:02.281Z,1628808062.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:02.281Z,1628808062.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:02.282Z,1628808062.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:02.687Z,1628808062.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00C75,184,80,80,93,FF
2021-08-12T22:41:02.687Z,1628808062.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:02.687Z,1628808062.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:02.689Z,1628808062.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:03.100Z,1628808063.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:03.501Z,1628808063.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00C41,185,80,80,A4,FF
2021-08-12T22:41:03.502Z,1628808063.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:03.933Z,1628808063.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224104.21*5C

2021-08-12T22:41:04.014Z,1628808064.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.720001 m, bearing: 256.093572 deg, deltaT: 4.358939 s, approachRate: -0.715773 m/s, LOS rate: -0.204849 deg/s, posRepo size: 4
2021-08-12T22:41:04.020Z,1628808064.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.720001 m,
      bearing: 256.093572 deg,
      approachRate: -0.715773 m/s,
      LOS rate: -0.204849 deg/s,
      cmd update: -0.614547 deg/s,
      cmd heading: 256.695688 deg,
      new cmd heading: 257.161962 deg.

2021-08-12T22:41:06.398Z,1628808066.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:06.736Z,1628808066.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:06.736Z,1628808066.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:06.737Z,1628808066.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:06.738Z,1628808066.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:07.137Z,1628808067.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00C41,185,80,80,A4,FF
2021-08-12T22:41:07.137Z,1628808067.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:07.137Z,1628808067.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:07.139Z,1628808067.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:07.537Z,1628808067.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:07.945Z,1628808067.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00C0B,183,80,80,A6,FF
2021-08-12T22:41:07.946Z,1628808067.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:08.381Z,1628808068.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224108.66*53

2021-08-12T22:41:08.421Z,1628808068.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.479996 m, bearing: 255.547129 deg, deltaT: 4.469254 s, approachRate: -0.724954 m/s, LOS rate: -0.122267 deg/s, posRepo size: 4
2021-08-12T22:41:08.423Z,1628808068.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.479996 m,
      bearing: 255.547129 deg,
      approachRate: -0.724954 m/s,
      LOS rate: -0.122267 deg/s,
      cmd update: -0.366801 deg/s,
      cmd heading: 253.961414 deg,
      new cmd heading: 253.683154 deg.

2021-08-12T22:41:10.873Z,1628808070.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:11.177Z,1628808071.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:11.177Z,1628808071.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:11.177Z,1628808071.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:11.178Z,1628808071.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:11.569Z,1628808071.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00C0B,183,80,80,A6,FF
2021-08-12T22:41:11.569Z,1628808071.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:11.570Z,1628808071.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:11.571Z,1628808071.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:12.011Z,1628808072.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:12.390Z,1628808072.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00BD3,184,80,80,A6,FF
2021-08-12T22:41:12.390Z,1628808072.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:12.846Z,1628808072.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224113.09*50

2021-08-12T22:41:12.905Z,1628808072.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.120010 m, bearing: 254.330836 deg, deltaT: 4.450552 s, approachRate: -0.754959 m/s, LOS rate: -0.273290 deg/s, posRepo size: 4
2021-08-12T22:41:12.907Z,1628808072.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.120010 m,
      bearing: 254.330836 deg,
      approachRate: -0.754959 m/s,
      LOS rate: -0.273290 deg/s,
      cmd update: -0.819871 deg/s,
      cmd heading: 252.321657 deg,
      new cmd heading: 252.150833 deg.

2021-08-12T22:41:15.242Z,1628808075.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:15.613Z,1628808075.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:15.613Z,1628808075.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:15.613Z,1628808075.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:15.614Z,1628808075.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:16.057Z,1628808076.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00BD3,184,80,80,A6,FF
2021-08-12T22:41:16.057Z,1628808076.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:16.057Z,1628808076.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:16.058Z,1628808076.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:16.439Z,1628808076.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:16.835Z,1628808076.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00B9D,184,80,80,A6,FF
2021-08-12T22:41:16.836Z,1628808076.836 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:16.858Z,1628808076.858 [Micromodem](INFO): Nmea in: $SNTTA,0.095956,0.286516,,,224117.58*58

2021-08-12T22:41:17.284Z,1628808077.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.880005 m, bearing: 254.764827 deg, deltaT: 4.489101 s, approachRate: -0.721749 m/s, LOS rate: 0.096676 deg/s, posRepo size: 4
2021-08-12T22:41:17.286Z,1628808077.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.880005 m,
      bearing: 254.764827 deg,
      approachRate: -0.721749 m/s,
      LOS rate: 0.096676 deg/s,
      cmd update: 0.290029 deg/s,
      cmd heading: 248.641210 deg,
      new cmd heading: 248.349415 deg.

2021-08-12T22:41:19.704Z,1628808079.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:20.076Z,1628808080.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:20.076Z,1628808080.076 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:20.076Z,1628808080.076 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:20.077Z,1628808080.077 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:20.465Z,1628808080.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00B9D,184,80,80,A6,FF
2021-08-12T22:41:20.465Z,1628808080.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:20.465Z,1628808080.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:20.467Z,1628808080.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:20.898Z,1628808080.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:21.273Z,1628808081.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00B68,187,80,80,AF,FF
2021-08-12T22:41:21.273Z,1628808081.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:21.715Z,1628808081.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.700012 m, bearing: 254.848319 deg, deltaT: 4.398860 s, approachRate: -0.722913 m/s, LOS rate: 0.018980 deg/s, posRepo size: 4
2021-08-12T22:41:21.717Z,1628808081.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.700012 m,
      bearing: 254.848319 deg,
      approachRate: -0.722913 m/s,
      LOS rate: 0.018980 deg/s,
      cmd update: 0.056941 deg/s,
      cmd heading: 249.917071 deg,
      new cmd heading: 250.029603 deg.

2021-08-12T22:41:24.130Z,1628808084.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:24.505Z,1628808084.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:24.505Z,1628808084.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:24.505Z,1628808084.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:24.506Z,1628808084.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:24.921Z,1628808084.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00B68,187,80,80,AF,FF
2021-08-12T22:41:24.921Z,1628808084.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:24.921Z,1628808084.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:24.923Z,1628808084.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:25.313Z,1628808085.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:25.710Z,1628808085.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00B34,186,80,80,AF,FF
2021-08-12T22:41:25.710Z,1628808085.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:26.133Z,1628808086.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224126.45*5E

2021-08-12T22:41:26.174Z,1628808086.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.580002 m, bearing: 255.539998 deg, deltaT: 4.423001 s, approachRate: -0.705406 m/s, LOS rate: 0.156382 deg/s, posRepo size: 4
2021-08-12T22:41:26.177Z,1628808086.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.580002 m,
      bearing: 255.539998 deg,
      approachRate: -0.705406 m/s,
      LOS rate: 0.156382 deg/s,
      cmd update: 0.469147 deg/s,
      cmd heading: 250.167770 deg,
      new cmd heading: 250.193094 deg.

2021-08-12T22:41:28.570Z,1628808088.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:28.941Z,1628808088.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:28.941Z,1628808088.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:28.941Z,1628808088.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:28.942Z,1628808088.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:29.345Z,1628808089.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00B34,186,80,80,AF,FF
2021-08-12T22:41:29.345Z,1628808089.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:29.345Z,1628808089.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:29.347Z,1628808089.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:29.760Z,1628808089.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:30.157Z,1628808090.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00B01,187,80,80,9F,FF
2021-08-12T22:41:30.157Z,1628808090.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:30.589Z,1628808090.589 [Micromodem](INFO): Nmea in: $SNTTA,0.251221,,,,224130.87*4E

2021-08-12T22:41:30.619Z,1628808090.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.520004 m, bearing: 256.057945 deg, deltaT: 4.475339 s, approachRate: -0.683747 m/s, LOS rate: 0.115734 deg/s, posRepo size: 4
2021-08-12T22:41:30.621Z,1628808090.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 256.057945 deg,
      approachRate: -0.683747 m/s,
      LOS rate: 0.115734 deg/s,
      cmd update: 0.347201 deg/s,
      cmd heading: 252.276742 deg,
      new cmd heading: 252.461748 deg.

2021-08-12T22:41:33.053Z,1628808093.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:33.390Z,1628808093.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:33.390Z,1628808093.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:33.391Z,1628808093.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:33.392Z,1628808093.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:33.801Z,1628808093.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00B01,187,80,80,9F,FF
2021-08-12T22:41:33.801Z,1628808093.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:33.802Z,1628808093.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:33.803Z,1628808093.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:34.205Z,1628808094.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:34.605Z,1628808094.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,00ACE,187,80,80,B2,FF
2021-08-12T22:41:34.605Z,1628808094.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:35.053Z,1628808095.053 [Micromodem](INFO): Nmea in: $SNTTA,0.087741,,,,224135.33*4E

2021-08-12T22:41:35.111Z,1628808095.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 255.724332 deg, deltaT: 4.397179 s, approachRate: -0.695904 m/s, LOS rate: -0.075870 deg/s, posRepo size: 4
2021-08-12T22:41:35.113Z,1628808095.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.459991 m,
      bearing: 255.724332 deg,
      approachRate: -0.695904 m/s,
      LOS rate: -0.075870 deg/s,
      cmd update: -0.227610 deg/s,
      cmd heading: 253.803531 deg,
      new cmd heading: 253.973119 deg.

2021-08-12T22:41:37.146Z,1628808097.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:37.421Z,1628808097.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:37.421Z,1628808097.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:37.421Z,1628808097.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:37.422Z,1628808097.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:37.837Z,1628808097.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,00ACE,187,80,80,B2,FF
2021-08-12T22:41:37.837Z,1628808097.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:37.837Z,1628808097.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:37.839Z,1628808097.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:38.240Z,1628808098.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:38.649Z,1628808098.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00AA1,184,80,80,A9,FF
2021-08-12T22:41:38.650Z,1628808098.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:39.062Z,1628808099.062 [Micromodem](INFO): Nmea in: $SNTTA,0.089555,0.396472,,,224139.36*5D

2021-08-12T22:41:39.107Z,1628808099.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.760010 m, bearing: 255.900004 deg, deltaT: 4.044187 s, approachRate: -0.667620 m/s, LOS rate: 0.043438 deg/s, posRepo size: 4
2021-08-12T22:41:39.133Z,1628808099.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 255.900004 deg,
      approachRate: -0.667620 m/s,
      LOS rate: 0.043438 deg/s,
      cmd update: 0.130315 deg/s,
      cmd heading: 252.883031 deg,
      new cmd heading: 252.782716 deg.

2021-08-12T22:41:41.109Z,1628808101.109 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-12T22:41:41.482Z,1628808101.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:41.882Z,1628808101.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:41.882Z,1628808101.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:41.882Z,1628808101.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:41.883Z,1628808101.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:42.282Z,1628808102.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00AA1,184,80,80,A9,FF
2021-08-12T22:41:42.282Z,1628808102.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:42.282Z,1628808102.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:42.284Z,1628808102.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:42.691Z,1628808102.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:43.089Z,1628808103.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00A67,186,80,80,B6,FF
2021-08-12T22:41:43.089Z,1628808103.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:43.519Z,1628808103.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224143.81*55

2021-08-12T22:41:43.564Z,1628808103.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 256.580837 deg, deltaT: 4.517286 s, approachRate: -0.770377 m/s, LOS rate: 0.150717 deg/s, posRepo size: 4
2021-08-12T22:41:43.566Z,1628808103.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.279999 m,
      bearing: 256.580837 deg,
      approachRate: -0.770377 m/s,
      LOS rate: 0.150717 deg/s,
      cmd update: 0.452152 deg/s,
      cmd heading: 253.471160 deg,
      new cmd heading: 253.521189 deg.

2021-08-12T22:41:45.964Z,1628808105.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:46.315Z,1628808106.315 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:46.315Z,1628808106.315 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:46.315Z,1628808106.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:46.317Z,1628808106.317 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:46.733Z,1628808106.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00A67,186,80,80,B6,FF
2021-08-12T22:41:46.734Z,1628808106.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:46.734Z,1628808106.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:46.746Z,1628808106.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:47.124Z,1628808107.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:47.546Z,1628808107.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,008C5,187,80,80,B2,FF
2021-08-12T22:41:47.547Z,1628808107.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:47.949Z,1628808107.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224148.27*52

2021-08-12T22:41:48.012Z,1628808108.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 257.104576 deg, deltaT: 4.407567 s, approachRate: -5.690213 m/s, LOS rate: 0.118827 deg/s, posRepo size: 4
2021-08-12T22:41:48.014Z,1628808108.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.200005 m,
      bearing: 257.104576 deg,
      approachRate: -5.690213 m/s,
      LOS rate: 0.118827 deg/s,
      cmd update: 0.356482 deg/s,
      cmd heading: 255.462225 deg,
      new cmd heading: 255.648720 deg.

2021-08-12T22:41:50.399Z,1628808110.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:50.794Z,1628808110.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:50.794Z,1628808110.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:50.795Z,1628808110.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:50.796Z,1628808110.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:51.165Z,1628808111.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,008C5,187,80,80,B2,FF
2021-08-12T22:41:51.165Z,1628808111.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:51.165Z,1628808111.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:51.167Z,1628808111.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:51.569Z,1628808111.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:51.989Z,1628808111.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,009FD,184,80,80,B1,FF
2021-08-12T22:41:51.990Z,1628808111.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:52.414Z,1628808112.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224152.69*53

2021-08-12T22:41:52.458Z,1628808112.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.919998 m, bearing: 256.109308 deg, deltaT: 4.455615 s, approachRate: 4.201439 m/s, LOS rate: -0.223374 deg/s, posRepo size: 4
2021-08-12T22:41:52.460Z,1628808112.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.919998 m,
      bearing: 256.109308 deg,
      approachRate: 4.201439 m/s,
      LOS rate: -0.223374 deg/s,
      cmd update: -0.670121 deg/s,
      cmd heading: 257.053347 deg,
      new cmd heading: 257.199364 deg.

2021-08-12T22:41:54.906Z,1628808114.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:55.201Z,1628808115.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:55.201Z,1628808115.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:55.201Z,1628808115.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:55.202Z,1628808115.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:41:55.609Z,1628808115.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,009FD,184,80,80,B1,FF
2021-08-12T22:41:55.609Z,1628808115.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:41:55.609Z,1628808115.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:41:55.611Z,1628808115.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:41:56.041Z,1628808116.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:41:56.417Z,1628808116.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,009CB,184,80,80,AD,FF
2021-08-12T22:41:56.417Z,1628808116.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:41:56.866Z,1628808116.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224157.13*5B

2021-08-12T22:41:56.927Z,1628808116.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 256.164851 deg, deltaT: 4.387519 s, approachRate: -0.683756 m/s, LOS rate: 0.012659 deg/s, posRepo size: 4
2021-08-12T22:41:56.933Z,1628808116.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 256.164851 deg,
      approachRate: -0.683756 m/s,
      LOS rate: 0.012659 deg/s,
      cmd update: 0.037978 deg/s,
      cmd heading: 254.112921 deg,
      new cmd heading: 253.783080 deg.

2021-08-12T22:41:59.289Z,1628808119.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:41:59.645Z,1628808119.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:41:59.645Z,1628808119.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:41:59.645Z,1628808119.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:41:59.646Z,1628808119.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:00.053Z,1628808120.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,009CB,184,80,80,AD,FF
2021-08-12T22:42:00.053Z,1628808120.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:00.053Z,1628808120.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:00.055Z,1628808120.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:00.461Z,1628808120.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:00.858Z,1628808120.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00993,184,80,80,C0,FF
2021-08-12T22:42:00.859Z,1628808120.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:01.302Z,1628808121.302 [Micromodem](INFO): Nmea in: $SNTTA,0.075851,,,,224201.58*44

2021-08-12T22:42:01.328Z,1628808121.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.560005 m, bearing: 256.692743 deg, deltaT: 4.502857 s, approachRate: -0.746193 m/s, LOS rate: 0.117235 deg/s, posRepo size: 4
2021-08-12T22:42:01.330Z,1628808121.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 256.692743 deg,
      approachRate: -0.746193 m/s,
      LOS rate: 0.117235 deg/s,
      cmd update: 0.351704 deg/s,
      cmd heading: 254.283460 deg,
      new cmd heading: 254.298748 deg.

2021-08-12T22:42:03.718Z,1628808123.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:04.089Z,1628808124.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:04.089Z,1628808124.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:04.089Z,1628808124.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:04.090Z,1628808124.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:04.493Z,1628808124.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00993,184,80,80,C0,FF
2021-08-12T22:42:04.493Z,1628808124.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:04.493Z,1628808124.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:04.495Z,1628808124.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:04.912Z,1628808124.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:05.309Z,1628808125.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00963,185,80,80,A9,FF
2021-08-12T22:42:05.310Z,1628808125.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:05.745Z,1628808125.745 [Micromodem](INFO): Nmea in: $SNTTA,,0.026393,,,224206.02*4F

2021-08-12T22:42:05.768Z,1628808125.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 256.139006 deg, deltaT: 4.399643 s, approachRate: -0.654600 m/s, LOS rate: -0.125860 deg/s, posRepo size: 4
2021-08-12T22:42:05.770Z,1628808125.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.680000 m,
      bearing: 256.139006 deg,
      approachRate: -0.654600 m/s,
      LOS rate: -0.125860 deg/s,
      cmd update: -0.377579 deg/s,
      cmd heading: 255.835103 deg,
      new cmd heading: 255.986611 deg.

2021-08-12T22:42:08.167Z,1628808128.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:08.529Z,1628808128.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:08.529Z,1628808128.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:08.529Z,1628808128.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:08.530Z,1628808128.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:08.933Z,1628808128.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00963,185,80,80,A9,FF
2021-08-12T22:42:08.934Z,1628808128.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:08.934Z,1628808128.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:08.935Z,1628808128.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:09.357Z,1628808129.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:09.769Z,1628808129.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00932,184,80,80,B0,FF
2021-08-12T22:42:09.769Z,1628808129.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:10.190Z,1628808130.190 [Micromodem](INFO): Nmea in: $SNTTA,0.086764,,,,224210.46*4E

2021-08-12T22:42:10.216Z,1628808130.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 257.152661 deg, deltaT: 4.448966 s, approachRate: -0.660828 m/s, LOS rate: 0.227841 deg/s, posRepo size: 4
2021-08-12T22:42:10.218Z,1628808130.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 257.152661 deg,
      approachRate: -0.660828 m/s,
      LOS rate: 0.227841 deg/s,
      cmd update: 0.683522 deg/s,
      cmd heading: 254.155167 deg,
      new cmd heading: 253.992923 deg.

2021-08-12T22:42:12.601Z,1628808132.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:12.984Z,1628808132.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:12.985Z,1628808132.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:12.985Z,1628808132.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:12.987Z,1628808132.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:13.389Z,1628808133.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00932,184,80,80,B0,FF
2021-08-12T22:42:13.389Z,1628808133.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:13.389Z,1628808133.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:13.391Z,1628808133.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:13.788Z,1628808133.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:14.193Z,1628808134.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,008F9,186,80,80,C2,FF
2021-08-12T22:42:14.193Z,1628808134.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:14.641Z,1628808134.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224214.92*56

2021-08-12T22:42:14.671Z,1628808134.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 257.665335 deg, deltaT: 4.470651 s, approachRate: -0.764987 m/s, LOS rate: 0.114675 deg/s, posRepo size: 4
2021-08-12T22:42:14.673Z,1628808134.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.320007 m,
      bearing: 257.665335 deg,
      approachRate: -0.764987 m/s,
      LOS rate: 0.114675 deg/s,
      cmd update: 0.344026 deg/s,
      cmd heading: 257.205209 deg,
      new cmd heading: 257.494201 deg.

2021-08-12T22:42:15.027Z,1628808135.027 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:42:17.117Z,1628808137.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:17.421Z,1628808137.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:17.421Z,1628808137.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:17.421Z,1628808137.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:17.422Z,1628808137.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:17.833Z,1628808137.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,008F9,186,80,80,C2,FF
2021-08-12T22:42:17.833Z,1628808137.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:17.833Z,1628808137.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:17.835Z,1628808137.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:18.243Z,1628808138.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:18.657Z,1628808138.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,006F0,184,80,80,A1,FF
2021-08-12T22:42:18.658Z,1628808138.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:19.109Z,1628808139.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 257.999550 deg, deltaT: 4.422945 s, approachRate: -7.067691 m/s, LOS rate: 0.075564 deg/s, posRepo size: 4
2021-08-12T22:42:19.111Z,1628808139.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 257.999550 deg,
      approachRate: -7.067691 m/s,
      LOS rate: 0.075564 deg/s,
      cmd update: 0.226692 deg/s,
      cmd heading: 258.729693 deg,
      new cmd heading: 258.877597 deg.

2021-08-12T22:42:21.490Z,1628808141.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:21.874Z,1628808141.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:21.874Z,1628808141.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:21.874Z,1628808141.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:21.875Z,1628808141.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:22.282Z,1628808142.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,006F0,184,80,80,A1,FF
2021-08-12T22:42:22.282Z,1628808142.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:22.282Z,1628808142.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:22.284Z,1628808142.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:22.685Z,1628808142.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:23.087Z,1628808143.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00891,184,80,80,AE,FF
2021-08-12T22:42:23.087Z,1628808143.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:23.517Z,1628808143.517 [Micromodem](INFO): Nmea in: $SNTTA,0.062469,,,,224223.81*41

2021-08-12T22:42:23.539Z,1628808143.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 257.756668 deg, deltaT: 4.482348 s, approachRate: 5.581897 m/s, LOS rate: -0.054186 deg/s, posRepo size: 4
2021-08-12T22:42:23.542Z,1628808143.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 257.756668 deg,
      approachRate: 5.581897 m/s,
      LOS rate: -0.054186 deg/s,
      cmd update: -0.162559 deg/s,
      cmd heading: 259.744903 deg,
      new cmd heading: 259.831383 deg.

2021-08-12T22:42:25.120Z,1628808145.120 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T22:42:25.946Z,1628808145.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:26.317Z,1628808146.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:26.317Z,1628808146.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:26.317Z,1628808146.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:26.318Z,1628808146.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:26.728Z,1628808146.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00891,184,80,80,AE,FF
2021-08-12T22:42:26.729Z,1628808146.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:26.730Z,1628808146.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:26.737Z,1628808146.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:27.121Z,1628808147.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:27.941Z,1628808147.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224228.26*56

2021-08-12T22:42:28.757Z,1628808148.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0430D,182,80,80,9F,FF
2021-08-12T22:42:28.758Z,1628808148.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:29.187Z,1628808149.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 992.400085 m, bearing: 258.144459 deg, deltaT: 5.670217 s, approachRate: 158.427811 m/s, LOS rate: 0.068391 deg/s, posRepo size: 4
2021-08-12T22:42:29.189Z,1628808149.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 992.400085 m,
      bearing: 258.144459 deg,
      approachRate: 158.427811 m/s,
      LOS rate: 0.068391 deg/s,
      cmd update: 0.205172 deg/s,
      cmd heading: 258.822516 deg,
      new cmd heading: 258.764861 deg.

2021-08-12T22:42:31.603Z,1628808151.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:31.976Z,1628808151.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:31.977Z,1628808151.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:31.977Z,1628808151.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:31.979Z,1628808151.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:32.369Z,1628808152.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0430D,182,80,80,9F,FF
2021-08-12T22:42:32.369Z,1628808152.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:32.369Z,1628808152.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:32.371Z,1628808152.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:32.834Z,1628808152.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:33.193Z,1628808153.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,0081B,184,80,80,B2,FF
2021-08-12T22:42:33.193Z,1628808153.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:33.196Z,1628808153.196 [Micromodem](INFO): Nmea in: REV,224234,COPROC,0.20.0.39330*7A

2021-08-12T22:42:33.197Z,1628808153.197 [Micromodem](ERROR): Response from modem failed NMEA checksum: REV,224234,COPROC,0.20.0.39330*7A
 expected 0
2021-08-12T22:42:33.615Z,1628808153.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 256.824402 deg, deltaT: 4.431119 s, approachRate: -204.327637 m/s, LOS rate: -0.297906 deg/s, posRepo size: 4
2021-08-12T22:42:33.618Z,1628808153.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.000000 m,
      bearing: 256.824402 deg,
      approachRate: -204.327637 m/s,
      LOS rate: -0.297906 deg/s,
      cmd update: -0.893718 deg/s,
      cmd heading: 259.730835 deg,
      new cmd heading: 259.803919 deg.

2021-08-12T22:42:36.058Z,1628808156.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:36.421Z,1628808156.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:36.421Z,1628808156.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:36.421Z,1628808156.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:36.422Z,1628808156.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:36.833Z,1628808156.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,0081B,184,80,80,B2,FF
2021-08-12T22:42:36.833Z,1628808156.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:36.833Z,1628808156.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:36.835Z,1628808156.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:37.237Z,1628808157.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:37.625Z,1628808157.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,007EA,182,80,80,B5,FF
2021-08-12T22:42:37.625Z,1628808157.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:38.073Z,1628808158.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224238.36*56

2021-08-12T22:42:38.110Z,1628808158.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.060005 m, bearing: 257.110887 deg, deltaT: 4.404431 s, approachRate: -0.667508 m/s, LOS rate: 0.065045 deg/s, posRepo size: 4
2021-08-12T22:42:38.111Z,1628808158.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.060005 m,
      bearing: 257.110887 deg,
      approachRate: -0.667508 m/s,
      LOS rate: 0.065045 deg/s,
      cmd update: 0.195134 deg/s,
      cmd heading: 255.794510 deg,
      new cmd heading: 255.396001 deg.

2021-08-12T22:42:40.475Z,1628808160.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:40.858Z,1628808160.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:40.858Z,1628808160.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:40.858Z,1628808160.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:40.859Z,1628808160.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:41.275Z,1628808161.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,007EA,182,80,80,B5,FF
2021-08-12T22:42:41.275Z,1628808161.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:41.276Z,1628808161.276 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:41.277Z,1628808161.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:41.664Z,1628808161.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:42.071Z,1628808162.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,007B5,184,80,80,A9,FF
2021-08-12T22:42:42.071Z,1628808162.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:42.497Z,1628808162.497 [Micromodem](INFO): Nmea in: $SNTTA,0.095128,,,,224242.80*4F

2021-08-12T22:42:42.535Z,1628808162.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.880005 m, bearing: 257.629435 deg, deltaT: 4.458353 s, approachRate: -0.713268 m/s, LOS rate: 0.116309 deg/s, posRepo size: 4
2021-08-12T22:42:42.538Z,1628808162.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.880005 m,
      bearing: 257.629435 deg,
      approachRate: -0.713268 m/s,
      LOS rate: 0.116309 deg/s,
      cmd update: 0.348928 deg/s,
      cmd heading: 256.664493 deg,
      new cmd heading: 256.745168 deg.

2021-08-12T22:42:44.916Z,1628808164.916 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-12T22:42:44.958Z,1628808164.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:45.306Z,1628808165.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:45.306Z,1628808165.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:45.306Z,1628808165.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:45.307Z,1628808165.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:45.701Z,1628808165.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,007B5,184,80,80,A9,FF
2021-08-12T22:42:45.701Z,1628808165.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:45.701Z,1628808165.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:45.703Z,1628808165.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:46.111Z,1628808166.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:46.513Z,1628808166.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00786,185,80,80,A7,FF
2021-08-12T22:42:46.513Z,1628808166.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:46.938Z,1628808166.938 [Micromodem](INFO): Nmea in: $SNTTA,0.421434,0.421440,,,224247.23*59

2021-08-12T22:42:47.049Z,1628808167.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 257.272626 deg, deltaT: 4.404087 s, approachRate: -0.640314 m/s, LOS rate: -0.081018 deg/s, posRepo size: 4
2021-08-12T22:42:47.051Z,1628808167.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.060005 m,
      bearing: 257.272626 deg,
      approachRate: -0.640314 m/s,
      LOS rate: -0.081018 deg/s,
      cmd update: -0.243053 deg/s,
      cmd heading: 258.202613 deg,
      new cmd heading: 258.383514 deg.

2021-08-12T22:42:49.056Z,1628808169.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:49.346Z,1628808169.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:49.347Z,1628808169.347 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:49.347Z,1628808169.347 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:49.350Z,1628808169.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:49.774Z,1628808169.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00786,185,80,80,A7,FF
2021-08-12T22:42:49.774Z,1628808169.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:49.780Z,1628808169.780 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:49.782Z,1628808169.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:50.148Z,1628808170.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:50.554Z,1628808170.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00750,185,80,80,A6,FF
2021-08-12T22:42:50.554Z,1628808170.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:51.002Z,1628808171.002 [Micromodem](INFO): Nmea in: $SNTTA,0.094496,0.423149,,,224251.31*51

2021-08-12T22:42:51.090Z,1628808171.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 257.732653 deg, deltaT: 4.045963 s, approachRate: -0.800800 m/s, LOS rate: 0.113700 deg/s, posRepo size: 4
2021-08-12T22:42:51.092Z,1628808171.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 257.732653 deg,
      approachRate: -0.800800 m/s,
      LOS rate: 0.113700 deg/s,
      cmd update: 0.341101 deg/s,
      cmd heading: 257.219262 deg,
      new cmd heading: 257.094332 deg.

2021-08-12T22:42:53.403Z,1628808173.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:53.785Z,1628808173.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:53.785Z,1628808173.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:53.786Z,1628808173.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:53.787Z,1628808173.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:54.185Z,1628808174.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00750,185,80,80,A6,FF
2021-08-12T22:42:54.185Z,1628808174.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:54.185Z,1628808174.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:54.187Z,1628808174.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:54.597Z,1628808174.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:55.002Z,1628808175.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00718,183,80,80,9A,FF
2021-08-12T22:42:55.004Z,1628808175.004 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:55.053Z,1628808175.053 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-12T22:42:55.409Z,1628808175.409 [Micromodem](INFO): Nmea in: $SNTTA,0.336103,0.221422,,,224255.71*5F

2021-08-12T22:42:55.456Z,1628808175.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 257.098456 deg, deltaT: 4.548272 s, approachRate: -0.738741 m/s, LOS rate: -0.139437 deg/s, posRepo size: 4
2021-08-12T22:42:55.458Z,1628808175.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.460007 m,
      bearing: 257.098456 deg,
      approachRate: -0.738741 m/s,
      LOS rate: -0.139437 deg/s,
      cmd update: -0.418311 deg/s,
      cmd heading: 258.770438 deg,
      new cmd heading: 258.877028 deg.

2021-08-12T22:42:57.845Z,1628808177.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:42:58.229Z,1628808178.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:42:58.230Z,1628808178.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:42:58.230Z,1628808178.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:42:58.231Z,1628808178.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:42:58.637Z,1628808178.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00718,183,80,80,9A,FF
2021-08-12T22:42:58.637Z,1628808178.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:42:58.637Z,1628808178.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:42:58.639Z,1628808178.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:42:59.061Z,1628808179.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:42:59.441Z,1628808179.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,006E5,183,80,80,B9,FF
2021-08-12T22:42:59.441Z,1628808179.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:42:59.905Z,1628808179.905 [Micromodem](INFO): Nmea in: $SNTTA,0.068357,,,,224300.16*4F

2021-08-12T22:42:59.965Z,1628808179.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 257.369260 deg, deltaT: 4.333766 s, approachRate: -0.706083 m/s, LOS rate: 0.062487 deg/s, posRepo size: 4
2021-08-12T22:42:59.981Z,1628808179.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.400009 m,
      bearing: 257.369260 deg,
      approachRate: -0.706083 m/s,
      LOS rate: 0.062487 deg/s,
      cmd update: 0.187461 deg/s,
      cmd heading: 256.957228 deg,
      new cmd heading: 256.747155 deg.

2021-08-12T22:43:02.297Z,1628808182.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:02.678Z,1628808182.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:02.678Z,1628808182.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:02.678Z,1628808182.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:02.679Z,1628808182.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:03.077Z,1628808183.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,006E5,183,80,80,B9,FF
2021-08-12T22:43:03.077Z,1628808183.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:03.077Z,1628808183.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:03.079Z,1628808183.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:03.493Z,1628808183.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:03.909Z,1628808183.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FED,000,006B1,183,80,80,A2,FF
2021-08-12T22:43:03.909Z,1628808183.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:04.330Z,1628808184.330 [Micromodem](INFO): Nmea in: $SNTTA,0.043216,,,,224304.60*47

2021-08-12T22:43:04.357Z,1628808184.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 256.601820 deg, deltaT: 4.467173 s, approachRate: -0.698429 m/s, LOS rate: -0.171795 deg/s, posRepo size: 4
2021-08-12T22:43:04.359Z,1628808184.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 256.601820 deg,
      approachRate: -0.698429 m/s,
      LOS rate: -0.171795 deg/s,
      cmd update: -0.515386 deg/s,
      cmd heading: 257.794649 deg,
      new cmd heading: 257.875344 deg.

2021-08-12T22:43:06.793Z,1628808186.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:07.117Z,1628808187.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:07.117Z,1628808187.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:07.117Z,1628808187.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:07.118Z,1628808187.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:07.525Z,1628808187.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FED,000,006B1,183,80,80,A2,FF
2021-08-12T22:43:07.525Z,1628808187.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:07.526Z,1628808187.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:07.527Z,1628808187.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:07.957Z,1628808187.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:08.329Z,1628808188.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE3,000,0067A,185,80,80,B7,FF
2021-08-12T22:43:08.330Z,1628808188.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:08.785Z,1628808188.785 [Micromodem](INFO): Nmea in: $SNTTA,0.050772,,,,224309.05*4C

2021-08-12T22:43:08.855Z,1628808188.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 256.968410 deg, deltaT: 4.427319 s, approachRate: -0.745372 m/s, LOS rate: 0.082802 deg/s, posRepo size: 4
2021-08-12T22:43:08.868Z,1628808188.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 256.968410 deg,
      approachRate: -0.745372 m/s,
      LOS rate: 0.082802 deg/s,
      cmd update: 0.248405 deg/s,
      cmd heading: 255.513238 deg,
      new cmd heading: 255.257406 deg.

2021-08-12T22:43:10.866Z,1628808190.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:11.165Z,1628808191.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:11.165Z,1628808191.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:11.165Z,1628808191.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:11.166Z,1628808191.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:11.566Z,1628808191.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE3,000,0067A,185,80,80,B7,FF
2021-08-12T22:43:11.566Z,1628808191.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:11.566Z,1628808191.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:11.568Z,1628808191.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:12.008Z,1628808192.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:12.369Z,1628808192.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00649,184,80,80,9D,FF
2021-08-12T22:43:12.370Z,1628808192.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:12.829Z,1628808192.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224313.09*52

2021-08-12T22:43:12.907Z,1628808192.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 256.458222 deg, deltaT: 4.033448 s, approachRate: -0.728906 m/s, LOS rate: -0.126489 deg/s, posRepo size: 4
2021-08-12T22:43:12.913Z,1628808192.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.040001 m,
      bearing: 256.458222 deg,
      approachRate: -0.728906 m/s,
      LOS rate: -0.126489 deg/s,
      cmd update: -0.379468 deg/s,
      cmd heading: 256.515350 deg,
      new cmd heading: 256.644708 deg.

2021-08-12T22:43:14.953Z,1628808194.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:15.197Z,1628808195.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:15.197Z,1628808195.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:15.197Z,1628808195.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:15.198Z,1628808195.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:15.609Z,1628808195.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00649,184,80,80,9D,FF
2021-08-12T22:43:15.609Z,1628808195.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:15.609Z,1628808195.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:15.611Z,1628808195.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:16.024Z,1628808196.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:16.409Z,1628808196.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,0061C,183,80,80,9F,FF
2021-08-12T22:43:16.410Z,1628808196.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:16.862Z,1628808196.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224317.14*5A

2021-08-12T22:43:16.917Z,1628808196.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 256.594853 deg, deltaT: 4.076221 s, approachRate: -0.662378 m/s, LOS rate: 0.033519 deg/s, posRepo size: 4
2021-08-12T22:43:16.919Z,1628808196.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.340000 m,
      bearing: 256.594853 deg,
      approachRate: -0.662378 m/s,
      LOS rate: 0.033519 deg/s,
      cmd update: 0.100557 deg/s,
      cmd heading: 254.970086 deg,
      new cmd heading: 254.796262 deg.

2021-08-12T22:43:19.289Z,1628808199.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:19.649Z,1628808199.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:19.649Z,1628808199.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:19.649Z,1628808199.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:19.650Z,1628808199.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:20.061Z,1628808200.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,0061C,183,80,80,9F,FF
2021-08-12T22:43:20.061Z,1628808200.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:20.062Z,1628808200.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:20.063Z,1628808200.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:20.453Z,1628808200.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:20.854Z,1628808200.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,005E5,185,80,80,79,FF
2021-08-12T22:43:20.854Z,1628808200.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:21.293Z,1628808201.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224321.59*56

2021-08-12T22:43:21.331Z,1628808201.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 258.751034 deg, deltaT: 4.479184 s, approachRate: -0.736741 m/s, LOS rate: 0.481378 deg/s, posRepo size: 4
2021-08-12T22:43:21.333Z,1628808201.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 258.751034 deg,
      approachRate: -0.736741 m/s,
      LOS rate: 0.481378 deg/s,
      cmd update: 1.444135 deg/s,
      cmd heading: 255.419830 deg,
      new cmd heading: 255.460024 deg.

2021-08-12T22:43:23.699Z,1628808203.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:24.094Z,1628808204.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:24.094Z,1628808204.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:24.095Z,1628808204.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:24.096Z,1628808204.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:24.489Z,1628808204.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,005E5,185,80,80,79,FF
2021-08-12T22:43:24.489Z,1628808204.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:24.489Z,1628808204.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:24.491Z,1628808204.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:24.905Z,1628808204.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:24.950Z,1628808204.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T22:43:25.309Z,1628808205.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,005B0,183,80,80,84,FF
2021-08-12T22:43:25.309Z,1628808205.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:25.733Z,1628808205.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224326.02*5F

2021-08-12T22:43:25.775Z,1628808205.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.859997 m, bearing: 255.697803 deg, deltaT: 4.423437 s, approachRate: -0.718899 m/s, LOS rate: -0.690240 deg/s, posRepo size: 4
2021-08-12T22:43:25.782Z,1628808205.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.859997 m,
      bearing: 255.697803 deg,
      approachRate: -0.718899 m/s,
      LOS rate: -0.690240 deg/s,
      cmd update: -2.070719 deg/s,
      cmd heading: 261.782466 deg,
      new cmd heading: 262.416004 deg.

2021-08-12T22:43:28.166Z,1628808208.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:28.533Z,1628808208.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:28.533Z,1628808208.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:28.533Z,1628808208.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:28.534Z,1628808208.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:28.933Z,1628808208.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,005B0,183,80,80,84,FF
2021-08-12T22:43:28.933Z,1628808208.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:28.933Z,1628808208.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:28.935Z,1628808208.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:29.357Z,1628808209.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:29.741Z,1628808209.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0057B,184,80,80,AC,FF
2021-08-12T22:43:29.741Z,1628808209.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:30.190Z,1628808210.190 [Micromodem](INFO): Nmea in: $SNTTA,0.030857,,,,224330.46*4F

2021-08-12T22:43:30.217Z,1628808210.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 255.671220 deg, deltaT: 4.393146 s, approachRate: -0.723854 m/s, LOS rate: -0.006051 deg/s, posRepo size: 4
2021-08-12T22:43:30.219Z,1628808210.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 255.671220 deg,
      approachRate: -0.723854 m/s,
      LOS rate: -0.006051 deg/s,
      cmd update: -0.018153 deg/s,
      cmd heading: 252.626991 deg,
      new cmd heading: 251.677094 deg.

2021-08-12T22:43:32.592Z,1628808212.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:32.996Z,1628808212.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:32.996Z,1628808212.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:32.997Z,1628808212.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:32.998Z,1628808212.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:33.387Z,1628808213.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0057B,184,80,80,AC,FF
2021-08-12T22:43:33.387Z,1628808213.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:33.388Z,1628808213.388 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:33.390Z,1628808213.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:33.794Z,1628808213.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:34.193Z,1628808214.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00547,187,80,80,9A,FF
2021-08-12T22:43:34.194Z,1628808214.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:34.622Z,1628808214.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224334.91*56

2021-08-12T22:43:34.638Z,1628808214.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 259.879545 deg, deltaT: 4.498530 s, approachRate: -0.693560 m/s, LOS rate: 0.935489 deg/s, posRepo size: 4
2021-08-12T22:43:34.640Z,1628808214.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.559998 m,
      bearing: 259.879545 deg,
      approachRate: -0.693560 m/s,
      LOS rate: 0.935489 deg/s,
      cmd update: 2.806467 deg/s,
      cmd heading: 252.545549 deg,
      new cmd heading: 252.538407 deg.

2021-08-12T22:43:37.111Z,1628808217.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:37.440Z,1628808217.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:37.440Z,1628808217.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:37.441Z,1628808217.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:37.441Z,1628808217.441 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:37.825Z,1628808217.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00547,187,80,80,9A,FF
2021-08-12T22:43:37.825Z,1628808217.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:37.825Z,1628808217.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:37.827Z,1628808217.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:38.248Z,1628808218.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:43:38.629Z,1628808218.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00513,186,80,80,60,FF
2021-08-12T22:43:38.630Z,1628808218.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:39.126Z,1628808219.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 258.610906 deg, deltaT: 4.452570 s, approachRate: -0.700719 m/s, LOS rate: -0.284923 deg/s, posRepo size: 4
2021-08-12T22:43:39.133Z,1628808219.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.439999 m,
      bearing: 258.610906 deg,
      approachRate: -0.700719 m/s,
      LOS rate: -0.284923 deg/s,
      cmd update: -0.854769 deg/s,
      cmd heading: 265.074901 deg,
      new cmd heading: 266.246387 deg.

2021-08-12T22:43:41.488Z,1628808221.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:41.862Z,1628808221.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:41.862Z,1628808221.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:41.862Z,1628808221.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:41.863Z,1628808221.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:42.279Z,1628808222.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00513,186,80,80,60,FF
2021-08-12T22:43:42.279Z,1628808222.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:42.279Z,1628808222.279 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:42.282Z,1628808222.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:44.321Z,1628808224.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:45.105Z,1628808225.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-12T22:43:45.105Z,1628808225.105 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,60,FF
2021-08-12T22:43:45.105Z,1628808225.105 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:43:47.188Z,1628808227.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:47.517Z,1628808227.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:47.517Z,1628808227.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:47.517Z,1628808227.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:47.518Z,1628808227.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:47.921Z,1628808227.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,60,FF
2021-08-12T22:43:47.922Z,1628808227.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:47.922Z,1628808227.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:49.137Z,1628808229.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0293C,184,80,80,AD,FF
2021-08-12T22:43:49.138Z,1628808229.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:49.594Z,1628808229.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 595.859985 m, bearing: 255.945001 deg, deltaT: 10.519630 s, approachRate: 52.798431 m/s, LOS rate: -0.253422 deg/s, posRepo size: 4
2021-08-12T22:43:49.601Z,1628808229.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 595.859985 m,
      bearing: 255.945001 deg,
      approachRate: 52.798431 m/s,
      LOS rate: -0.253422 deg/s,
      cmd update: -0.760266 deg/s,
      cmd heading: 256.089866 deg,
      new cmd heading: 255.785658 deg.

2021-08-12T22:43:52.027Z,1628808232.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:52.369Z,1628808232.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:52.369Z,1628808232.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:52.370Z,1628808232.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:52.371Z,1628808232.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:52.810Z,1628808232.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0293C,184,80,80,AD,FF
2021-08-12T22:43:52.810Z,1628808232.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:52.811Z,1628808232.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:43:53.578Z,1628808233.578 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:43:54.909Z,1628808234.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:55.197Z,1628808235.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,06999,184,80,80,90,FF
2021-08-12T22:43:55.197Z,1628808235.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:43:55.631Z,1628808235.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1584.480103 m, bearing: 255.729386 deg, deltaT: 6.029592 s, approachRate: 163.961365 m/s, LOS rate: -0.035760 deg/s, posRepo size: 4
2021-08-12T22:43:55.634Z,1628808235.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1584.480103 m,
      bearing: 255.729386 deg,
      approachRate: 163.961365 m/s,
      LOS rate: -0.035760 deg/s,
      cmd update: -0.107279 deg/s,
      cmd heading: 251.525532 deg,
      new cmd heading: 251.215897 deg.

2021-08-12T22:43:58.078Z,1628808238.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:43:58.437Z,1628808238.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:43:58.437Z,1628808238.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:43:58.437Z,1628808238.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:43:58.438Z,1628808238.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:43:58.833Z,1628808238.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,06999,184,80,80,90,FF
2021-08-12T22:43:58.833Z,1628808238.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:43:58.833Z,1628808238.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:00.862Z,1628808240.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,05C50,187,80,80,A8,FF
2021-08-12T22:44:00.863Z,1628808240.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:01.294Z,1628808241.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1380.420044 m, bearing: 256.344212 deg, deltaT: 5.664089 s, approachRate: -36.026985 m/s, LOS rate: 0.108548 deg/s, posRepo size: 4
2021-08-12T22:44:01.297Z,1628808241.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1380.420044 m,
      bearing: 256.344212 deg,
      approachRate: -36.026985 m/s,
      LOS rate: 0.108548 deg/s,
      cmd update: 0.325644 deg/s,
      cmd heading: 250.914225 deg,
      new cmd heading: 250.874334 deg.

2021-08-12T22:44:03.706Z,1628808243.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:04.081Z,1628808244.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:04.081Z,1628808244.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:04.081Z,1628808244.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:04.082Z,1628808244.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:04.485Z,1628808244.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,05C50,187,80,80,A8,FF
2021-08-12T22:44:04.485Z,1628808244.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:04.485Z,1628808244.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:04.906Z,1628808244.906 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:05.294Z,1628808245.294 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-12T22:44:05.294Z,1628808245.294 [Micromodem] Hardware Fault, FailCount= 1
2021-08-12T22:44:05.294Z,1628808245.294 [Micromodem](ERROR): Hardware Fault
2021-08-12T22:44:05.349Z,1628808245.349 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:44:05.349Z,1628808245.349 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T22:44:05.349Z,1628808245.349 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T22:44:05.350Z,1628808245.350 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:44:05.350Z,1628808245.350 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T22:44:05.465Z,1628808245.465 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-12T22:44:05.705Z,1628808245.705 [Micromodem](INFO): Powering down
2021-08-12T22:44:06.575Z,1628808246.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:06.689Z,1628808246.689 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-12T22:44:06.689Z,1628808246.689 [Micromodem] No Fault, FailCount= 1
2021-08-12T22:44:07.321Z,1628808247.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,A8,FF
2021-08-12T22:44:07.321Z,1628808247.321 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,A8,FF
2021-08-12T22:44:07.321Z,1628808247.321 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:44:09.337Z,1628808249.337 [Micromodem](INFO): Powering up
2021-08-12T22:44:09.338Z,1628808249.338 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-12T22:44:09.399Z,1628808249.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:09.750Z,1628808249.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:09.750Z,1628808249.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:09.751Z,1628808249.751 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:09.751Z,1628808249.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:10.145Z,1628808250.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,A8,FF
2021-08-12T22:44:10.145Z,1628808250.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:10.145Z,1628808250.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:11.945Z,1628808251.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:12.573Z,1628808252.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,06461,184,80,80,AE,FF
2021-08-12T22:44:12.574Z,1628808252.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:13.045Z,1628808253.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1504.319946 m, bearing: 255.475057 deg, deltaT: 11.672940 s, approachRate: 10.614285 m/s, LOS rate: -0.074459 deg/s, posRepo size: 4
2021-08-12T22:44:13.047Z,1628808253.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1504.319946 m,
      bearing: 255.475057 deg,
      approachRate: 10.614285 m/s,
      LOS rate: -0.074459 deg/s,
      cmd update: -0.223377 deg/s,
      cmd heading: 254.715456 deg,
      new cmd heading: 254.861652 deg.

2021-08-12T22:44:14.597Z,1628808254.597 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:44:14.713737Z,RTC,RTC*59

2021-08-12T22:44:14.598Z,1628808254.598 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-12T22:44:14.713737Z,RTC,RTC*59

2021-08-12T22:44:15.045Z,1628808255.045 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-12T22:44:15.045Z,1628808255.045 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-12T22:44:15.045Z,1628808255.045 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-12T22:44:15.156Z,1628808255.156 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-12T22:44:15.476Z,1628808255.476 [RDI_Pathfinder](INFO): Powering down
2021-08-12T22:44:15.498Z,1628808255.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:15.805Z,1628808255.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:15.805Z,1628808255.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:15.806Z,1628808255.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:15.807Z,1628808255.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:16.202Z,1628808256.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,06461,184,80,80,AE,FF
2021-08-12T22:44:16.203Z,1628808256.203 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:16.203Z,1628808256.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:16.204Z,1628808256.204 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:16.438Z,1628808256.438 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-12T22:44:16.438Z,1628808256.438 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-12T22:44:16.613Z,1628808256.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:16.636Z,1628808256.636 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-12T22:44:17.046Z,1628808257.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,0034F,184,80,80,9F,FF
2021-08-12T22:44:17.046Z,1628808257.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:17.049Z,1628808257.049 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-12T22:44:17.049Z,1628808257.049 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-12T22:44:17.458Z,1628808257.458 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-12T22:44:17.458Z,1628808257.458 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-12T22:44:17.498Z,1628808257.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 256.954394 deg, deltaT: 4.513928 s, approachRate: -330.310974 m/s, LOS rate: 0.327727 deg/s, posRepo size: 4
2021-08-12T22:44:17.499Z,1628808257.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.32 m.
2021-08-12T22:44:17.521Z,1628808257.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 256.954394 deg,
      approachRate: -330.310974 m/s,
      LOS rate: 0.327727 deg/s,
      cmd update: 0.983182 deg/s,
      cmd heading: 253.712592 deg,
      new cmd heading: 253.620279 deg.

2021-08-12T22:44:17.858Z,1628808257.858 [Micromodem](INFO): Nmea in: $SNTTA,0.028991,,,,224417.73*49

2021-08-12T22:44:17.859Z,1628808257.859 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.028991,,,,224417.73*49

2021-08-12T22:44:17.884Z,1628808257.884 [PowerOnly](INFO): Powering up loadControl
2021-08-12T22:44:17.911Z,1628808257.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T22:44:17.911Z,1628808257.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:44:17.911Z,1628808257.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T22:44:17.912Z,1628808257.912 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T22:44:17.912Z,1628808257.912 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T22:44:17.912Z,1628808257.912 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T22:44:18.414Z,1628808258.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T22:44:18.414Z,1628808258.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:44:18.414Z,1628808258.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T22:44:18.414Z,1628808258.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:44:19.085Z,1628808259.085 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-12T22:44:19.086Z,1628808259.086 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-12T22:44:19.481Z,1628808259.481 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-12T22:44:19.481Z,1628808259.481 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-12T22:44:19.879Z,1628808259.879 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-12T22:44:19.880Z,1628808259.880 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-12T22:44:19.931Z,1628808259.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:20.269Z,1628808260.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:20.269Z,1628808260.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:20.269Z,1628808260.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:20.270Z,1628808260.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:20.276Z,1628808260.276 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-12T22:44:20.277Z,1628808260.277 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-12T22:44:20.685Z,1628808260.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0034F,184,80,80,9F,FF
2021-08-12T22:44:20.685Z,1628808260.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:20.686Z,1628808260.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:20.687Z,1628808260.687 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-12T22:44:20.687Z,1628808260.687 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-12T22:44:21.086Z,1628808261.086 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-12T22:44:21.087Z,1628808261.087 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,12,22,44,22*4E

2021-08-12T22:44:21.470Z,1628808261.470 [Micromodem](INFO): Nmea in: $CACLK,2021,8,12,22,44,22*7C

2021-08-12T22:44:21.618Z,1628808261.618 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400
2021-08-12T22:44:21.619Z,1628808261.619 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:44:21.686Z,1628808261.686 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T22:44:21.687Z,1628808261.687 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T22:44:21.687Z,1628808261.687 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T22:44:21.687Z,1628808261.687 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:44:21.687Z,1628808261.687 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T22:44:21.887Z,1628808261.887 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-12T22:44:23Z*7D

2021-08-12T22:44:21.901Z,1628808261.901 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:44:23.028210Z,USER_CMD,RTC*13
$CACYC,0,1,10,1,0,1*6B

2021-08-12T22:44:21.901Z,1628808261.901 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-12T22:44:23.028210Z,USER_CMD,RTC*13
$CACYC,0,1,10,1,0,1*6B

2021-08-12T22:44:22.283Z,1628808262.283 [Micromodem](INFO): Nmea in: $CADRQ,224423,1,10,0,64,1*77

2021-08-12T22:44:22.283Z,1628808262.283 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,224423,1,10,0,64,1*77

2021-08-12T22:44:22.717Z,1628808262.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:25.527Z,1628808265.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:26.328Z,1628808266.328 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057933
2021-08-12T22:44:28.394Z,1628808268.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:28.745Z,1628808268.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:28.745Z,1628808268.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:28.745Z,1628808268.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:28.746Z,1628808268.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:29.151Z,1628808269.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,0034F,184,80,80,9F,FF
2021-08-12T22:44:29.151Z,1628808269.151 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:29.151Z,1628808269.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:31.206Z,1628808271.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:32.793Z,1628808272.793 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:44:33.183Z,1628808273.183 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:44:33.183Z,1628808273.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:33.188Z,1628808273.188 [Micromodem](INFO): Nmea in: $CADRQ,224434,1,10,0,64,1*71

2021-08-12T22:44:33.189Z,1628808273.189 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,224434,1,10,0,64,1*71

2021-08-12T22:44:33.593Z,1628808273.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:34.013Z,1628808274.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,002C3,186,80,80,62,FF
2021-08-12T22:44:34.013Z,1628808274.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:34.072Z,1628808274.072 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:44:34.433Z,1628808274.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224434.71*5F

2021-08-12T22:44:34.453Z,1628808274.453 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-12T22:44:34.453Z,1628808274.453 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-12T22:44:34.454Z,1628808274.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-12T22:44:34.454Z,1628808274.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:44:34.454Z,1628808274.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-12T22:44:34.454Z,1628808274.454 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-08-12T22:44:34.455Z,1628808274.455 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-12T22:44:34.455Z,1628808274.455 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-12T22:44:34.455Z,1628808274.455 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-12T22:44:34.477Z,1628808274.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 252.313526 deg, deltaT: 16.959766 s, approachRate: -0.495290 m/s, LOS rate: -0.273640 deg/s, posRepo size: 4
2021-08-12T22:44:34.478Z,1628808274.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 4.92 m.
2021-08-12T22:44:34.484Z,1628808274.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 252.313526 deg,
      approachRate: -0.495290 m/s,
      LOS rate: -0.273640 deg/s,
      cmd update: -0.820920 deg/s,
      cmd heading: 270.402409 deg,
      new cmd heading: 270.812553 deg.

2021-08-12T22:44:34.916Z,1628808274.916 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210812T224434: (41.552319, -70.708603)
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-12T22:44:34.917Z,1628808274.917 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-12T22:44:35.249Z,1628808275.249 [UniversalFixResidualReporter](INFO): Fix residual: 24.6 %DT, over the last 633.2 m. Residual distance 155.7 m at bearing 56.3 degrees. Fix at (41.5544, -70.7012) with 657.0 m made good.
2021-08-12T22:44:36.899Z,1628808276.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:37.225Z,1628808277.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:37.225Z,1628808277.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:37.225Z,1628808277.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:37.226Z,1628808277.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:37.637Z,1628808277.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,002C3,186,80,80,62,FF
2021-08-12T22:44:37.637Z,1628808277.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:37.637Z,1628808277.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:37.639Z,1628808277.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:38.049Z,1628808278.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:38.445Z,1628808278.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,002CD,184,80,80,BD,FF
2021-08-12T22:44:38.445Z,1628808278.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:38.494Z,1628808278.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:44:38.910Z,1628808278.910 [Micromodem](INFO): Nmea in: $SNTTA,0.270106,,,,224439.16*4F

2021-08-12T22:44:38.958Z,1628808278.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 266.379399 deg, deltaT: 4.422229 s, approachRate: 0.135679 m/s, LOS rate: 3.180720 deg/s, posRepo size: 4
2021-08-12T22:44:38.959Z,1628808278.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 5.52 m.
2021-08-12T22:44:38.959Z,1628808278.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 5.52 m.
2021-08-12T22:44:38.959Z,1628808278.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T22:44:38.966Z,1628808278.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 266.379399 deg,
      approachRate: 0.135679 m/s,
      LOS rate: 3.180720 deg/s,
      cmd update: 9.542161 deg/s,
      cmd heading: 266.768574 deg,
      new cmd heading: 266.381685 deg.

2021-08-12T22:44:41.503Z,1628808281.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:41.837Z,1628808281.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:41.837Z,1628808281.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:41.837Z,1628808281.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:41.838Z,1628808281.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:42.233Z,1628808282.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,002CD,184,80,80,BD,FF
2021-08-12T22:44:42.233Z,1628808282.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:42.233Z,1628808282.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:42.235Z,1628808282.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:42.641Z,1628808282.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:43.049Z,1628808283.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D62,000,002F6,18A,80,80,34,FF
2021-08-12T22:44:43.049Z,1628808283.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:43.140Z,1628808283.140 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:44:43.476Z,1628808283.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224443.76*58

2021-08-12T22:44:43.527Z,1628808283.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 300.507068 deg, deltaT: 4.646172 s, approachRate: 0.529468 m/s, LOS rate: 7.345331 deg/s, posRepo size: 4
2021-08-12T22:44:43.536Z,1628808283.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 300.507068 deg,
      approachRate: 0.529468 m/s,
      LOS rate: 7.345331 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 311.064040 deg,
      new cmd heading: 314.866782 deg.

2021-08-12T22:44:45.890Z,1628808285.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:46.285Z,1628808286.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:46.285Z,1628808286.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:46.285Z,1628808286.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:46.286Z,1628808286.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:46.673Z,1628808286.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D62,000,002F6,18A,80,80,34,FF
2021-08-12T22:44:46.673Z,1628808286.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:46.673Z,1628808286.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:46.675Z,1628808286.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:47.085Z,1628808287.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:47.485Z,1628808287.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,0032D,186,80,80,46,FF
2021-08-12T22:44:47.485Z,1628808287.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:47.505Z,1628808287.505 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:44:47.976Z,1628808287.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224448.20*50

2021-08-12T22:44:48.048Z,1628808288.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 292.722018 deg, deltaT: 4.364951 s, approachRate: 0.756022 m/s, LOS rate: -1.783537 deg/s, posRepo size: 4
2021-08-12T22:44:48.050Z,1628808288.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 292.722018 deg,
      approachRate: 0.756022 m/s,
      LOS rate: -1.783537 deg/s,
      cmd update: -5.350610 deg/s,
      cmd heading: 3.542982 deg,
      new cmd heading: 10.045434 deg.

2021-08-12T22:44:50.013Z,1628808290.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:50.309Z,1628808290.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:50.309Z,1628808290.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:50.309Z,1628808290.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:50.310Z,1628808290.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:50.752Z,1628808290.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,0032D,186,80,80,46,FF
2021-08-12T22:44:50.752Z,1628808290.752 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:50.752Z,1628808290.752 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:50.754Z,1628808290.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:51.160Z,1628808291.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:51.557Z,1628808291.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,00353,185,80,80,64,FF
2021-08-12T22:44:51.557Z,1628808291.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:44:51.577Z,1628808291.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:44:52.015Z,1628808292.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224452.28*53

2021-08-12T22:44:52.043Z,1628808292.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 277.309123 deg, deltaT: 4.071996 s, approachRate: 0.559922 m/s, LOS rate: -3.785096 deg/s, posRepo size: 4
2021-08-12T22:44:52.045Z,1628808292.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 277.309123 deg,
      approachRate: 0.559922 m/s,
      LOS rate: -3.785096 deg/s,
      cmd update: -11.355287 deg/s,
      cmd heading: 341.755523 deg,
      new cmd heading: 339.245943 deg.

2021-08-12T22:44:54.407Z,1628808294.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:54.821Z,1628808294.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:44:54.821Z,1628808294.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:44:54.821Z,1628808294.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:44:54.822Z,1628808294.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:44:55.198Z,1628808295.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,00353,185,80,80,64,FF
2021-08-12T22:44:55.198Z,1628808295.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:44:55.198Z,1628808295.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:44:55.200Z,1628808295.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:44:55.202Z,1628808295.202 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T22:44:55.619Z,1628808295.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:44:56.430Z,1628808296.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224456.72*58

2021-08-12T22:44:57.261Z,1628808297.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:44:58.825Z,1628808298.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,64,FF
2021-08-12T22:44:58.825Z,1628808298.825 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,64,FF
2021-08-12T22:44:58.826Z,1628808298.826 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:45:00.097Z,1628808300.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:00.452Z,1628808300.452 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:00.453Z,1628808300.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:00.453Z,1628808300.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:00.454Z,1628808300.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:00.862Z,1628808300.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,64,FF
2021-08-12T22:45:00.862Z,1628808300.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:00.862Z,1628808300.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:00.865Z,1628808300.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:01.252Z,1628808301.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:01.658Z,1628808301.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,003A9,187,80,80,3F,FF
2021-08-12T22:45:01.658Z,1628808301.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:01.687Z,1628808301.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:02.101Z,1628808302.101 [Micromodem](INFO): Nmea in: $SNTTA,0.026016,,,,224502.39*4A

2021-08-12T22:45:02.153Z,1628808302.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 286.642849 deg, deltaT: 10.109837 s, approachRate: 0.510394 m/s, LOS rate: 0.923232 deg/s, posRepo size: 4
2021-08-12T22:45:02.153Z,1628808302.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.72 m. Rolling out.
2021-08-12T22:45:02.153Z,1628808302.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T22:45:02.897Z,1628808302.897 [Micromodem](INFO): Nmea in: $CAERR,224504,DATA_TIMEOUT,1*4B

2021-08-12T22:45:04.510Z,1628808304.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:04.913Z,1628808304.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:04.913Z,1628808304.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:04.913Z,1628808304.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:04.914Z,1628808304.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:05.309Z,1628808305.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,003A9,187,80,80,3F,FF
2021-08-12T22:45:05.309Z,1628808305.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:05.309Z,1628808305.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:05.311Z,1628808305.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:05.701Z,1628808305.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:06.526Z,1628808306.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224506.83*52

2021-08-12T22:45:07.025Z,1628808307.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:07.724Z,1628808307.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,057AB,187,80,80,9A,FF
2021-08-12T22:45:07.725Z,1628808307.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:07.744Z,1628808307.744 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:08.169Z,1628808308.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1309.079956 m, bearing: 290.970567 deg, deltaT: 6.057261 s, approachRate: 213.026978 m/s, LOS rate: 0.714468 deg/s, posRepo size: 4
2021-08-12T22:45:08.170Z,1628808308.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1309.08 m. Resuming terminal guidance.
2021-08-12T22:45:08.170Z,1628808308.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T22:45:08.571Z,1628808308.571 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T22:45:08.571Z,1628808308.571 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:08.572Z,1628808308.572 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T22:45:08.573Z,1628808308.573 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T22:45:08.573Z,1628808308.573 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T22:45:08.573Z,1628808308.573 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T22:45:09.027Z,1628808309.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T22:45:09.027Z,1628808309.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:09.027Z,1628808309.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T22:45:09.032Z,1628808309.032 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:10.570Z,1628808310.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:10.982Z,1628808310.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:10.982Z,1628808310.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:10.983Z,1628808310.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:10.984Z,1628808310.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:11.354Z,1628808311.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,057AB,187,80,80,9A,FF
2021-08-12T22:45:11.354Z,1628808311.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:11.354Z,1628808311.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:11.355Z,1628808311.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:11.788Z,1628808311.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:12.157Z,1628808312.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,00416,187,80,80,3C,FF
2021-08-12T22:45:12.158Z,1628808312.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:12.609Z,1628808312.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224512.88*5C

2021-08-12T22:45:12.625Z,1628808312.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 280.733315 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T22:45:12.625Z,1628808312.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.26 m.
2021-08-12T22:45:12.626Z,1628808312.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 280.733315deg and heading rate command to 0 deg/s.
2021-08-12T22:45:13.059Z,1628808313.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T22:45:13.059Z,1628808313.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:45:13.059Z,1628808313.059 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T22:45:13.062Z,1628808313.062 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T22:45:13.062Z,1628808313.062 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T22:45:13.062Z,1628808313.062 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T22:45:13.438Z,1628808313.438 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T22:45:13.438Z,1628808313.438 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:45:13.438Z,1628808313.438 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T22:45:13.438Z,1628808313.438 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:45:15.087Z,1628808315.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:15.389Z,1628808315.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:15.390Z,1628808315.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:15.390Z,1628808315.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:15.391Z,1628808315.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:15.809Z,1628808315.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,00416,187,80,80,3C,FF
2021-08-12T22:45:15.809Z,1628808315.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:15.810Z,1628808315.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:15.813Z,1628808315.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:16.206Z,1628808316.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:16.602Z,1628808316.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,0044D,186,80,80,6B,FF
2021-08-12T22:45:16.603Z,1628808316.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:16.752Z,1628808316.752 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:17.061Z,1628808317.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224517.34*5E

2021-08-12T22:45:17.139Z,1628808317.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 262.206973 deg, deltaT: 4.534823 s, approachRate: 0.727702 m/s, LOS rate: -4.085350 deg/s, posRepo size: 2
2021-08-12T22:45:17.139Z,1628808317.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-08-12T22:45:17.145Z,1628808317.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 262.206973 deg,
      approachRate: 0.727702 m/s,
      LOS rate: -4.085350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.733315 deg,
      new cmd heading: 280.733315 deg.

2021-08-12T22:45:19.455Z,1628808319.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:19.833Z,1628808319.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:19.833Z,1628808319.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:19.833Z,1628808319.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:19.834Z,1628808319.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:20.241Z,1628808320.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,0044D,186,80,80,6B,FF
2021-08-12T22:45:20.241Z,1628808320.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:20.241Z,1628808320.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:20.243Z,1628808320.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:20.648Z,1628808320.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:21.488Z,1628808321.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224521.77*5C

2021-08-12T22:45:22.290Z,1628808322.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:23.874Z,1628808323.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,6B,FF
2021-08-12T22:45:23.874Z,1628808323.874 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,6B,FF
2021-08-12T22:45:23.874Z,1628808323.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:45:25.172Z,1628808325.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:25.497Z,1628808325.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:25.497Z,1628808325.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:25.497Z,1628808325.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:25.498Z,1628808325.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:25.929Z,1628808325.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,6B,FF
2021-08-12T22:45:25.929Z,1628808325.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:25.929Z,1628808325.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:25.931Z,1628808325.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:26.301Z,1628808326.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:26.737Z,1628808326.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,004A3,186,80,80,58,FF
2021-08-12T22:45:26.738Z,1628808326.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:26.821Z,1628808326.821 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:27.135Z,1628808327.135 [Micromodem](INFO): Nmea in: $SNTTA,0.377734,,,,224527.45*46

2021-08-12T22:45:27.196Z,1628808327.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 276.954718 deg, deltaT: 10.068891 s, approachRate: 0.512470 m/s, LOS rate: 1.464684 deg/s, posRepo size: 3
2021-08-12T22:45:27.197Z,1628808327.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2021-08-12T22:45:27.197Z,1628808327.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.72 m.
2021-08-12T22:45:27.198Z,1628808327.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T22:45:27.205Z,1628808327.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 276.954718 deg,
      approachRate: 0.512470 m/s,
      LOS rate: 1.464684 deg/s,
      cmd update: 4.394052 deg/s,
      cmd heading: 159.765331 deg,
      new cmd heading: 155.240611 deg.

2021-08-12T22:45:28.308Z,1628808328.308 [DDM](ERROR): Could not parse latch state
2021-08-12T22:45:29.547Z,1628808329.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:29.968Z,1628808329.968 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:29.968Z,1628808329.968 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:29.969Z,1628808329.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:29.970Z,1628808329.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:30.341Z,1628808330.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,004A3,186,80,80,58,FF
2021-08-12T22:45:30.341Z,1628808330.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:30.341Z,1628808330.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:30.343Z,1628808330.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:30.780Z,1628808330.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:31.574Z,1628808331.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224531.86*53

2021-08-12T22:45:32.393Z,1628808332.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:33.992Z,1628808333.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,58,FF
2021-08-12T22:45:33.993Z,1628808333.993 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,58,FF
2021-08-12T22:45:33.994Z,1628808333.994 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:45:35.225Z,1628808335.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:35.589Z,1628808335.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:35.589Z,1628808335.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:35.589Z,1628808335.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:35.590Z,1628808335.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:36.024Z,1628808336.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,58,FF
2021-08-12T22:45:36.024Z,1628808336.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:36.025Z,1628808336.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:36.026Z,1628808336.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:36.408Z,1628808336.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:36.812Z,1628808336.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,004FB,189,80,80,74,FF
2021-08-12T22:45:36.813Z,1628808336.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:36.892Z,1628808336.892 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:37.223Z,1628808337.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224537.55*5B

2021-08-12T22:45:37.272Z,1628808337.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 196.533011 deg, deltaT: 10.071373 s, approachRate: 0.524258 m/s, LOS rate: -7.985178 deg/s, posRepo size: 4
2021-08-12T22:45:37.274Z,1628808337.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.999996 m,
      bearing: 196.533011 deg,
      approachRate: 0.524258 m/s,
      LOS rate: -7.985178 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 203.911211 deg,
      new cmd heading: 205.704296 deg.

2021-08-12T22:45:39.654Z,1628808339.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:40.061Z,1628808340.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:40.061Z,1628808340.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:40.061Z,1628808340.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:40.062Z,1628808340.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:40.446Z,1628808340.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,004FB,189,80,80,74,FF
2021-08-12T22:45:40.446Z,1628808340.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:40.446Z,1628808340.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:40.447Z,1628808340.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:40.847Z,1628808340.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:41.249Z,1628808341.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0051C,189,80,80,7C,FF
2021-08-12T22:45:41.250Z,1628808341.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:41.301Z,1628808341.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:45:41.685Z,1628808341.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224541.97*54

2021-08-12T22:45:41.715Z,1628808341.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 184.816654 deg, deltaT: 4.408735 s, approachRate: 0.449109 m/s, LOS rate: -2.657532 deg/s, posRepo size: 4
2021-08-12T22:45:41.715Z,1628808341.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 40.98 m. Rolling out.
2021-08-12T22:45:41.716Z,1628808341.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T22:45:42.132Z,1628808342.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T22:45:42.132Z,1628808342.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:42.132Z,1628808342.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T22:45:42.133Z,1628808342.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T22:45:42.133Z,1628808342.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T22:45:42.133Z,1628808342.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T22:45:42.493Z,1628808342.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T22:45:42.493Z,1628808342.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:42.493Z,1628808342.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T22:45:42.493Z,1628808342.493 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:45:44.124Z,1628808344.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:44.477Z,1628808344.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:44.477Z,1628808344.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:44.477Z,1628808344.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:44.478Z,1628808344.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:44.889Z,1628808344.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0051C,189,80,80,7C,FF
2021-08-12T22:45:44.889Z,1628808344.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:44.889Z,1628808344.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:44.891Z,1628808344.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:45.324Z,1628808345.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:45.725Z,1628808345.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,00534,185,80,80,8C,FF
2021-08-12T22:45:45.726Z,1628808345.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:46.154Z,1628808346.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224546.43*5A

2021-08-12T22:45:46.183Z,1628808346.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 178.830458 deg, deltaT: 4.463240 s, approachRate: 0.322635 m/s, LOS rate: -1.341222 deg/s, posRepo size: 4
2021-08-12T22:45:48.578Z,1628808348.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:48.945Z,1628808348.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:48.945Z,1628808348.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:48.945Z,1628808348.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:48.946Z,1628808348.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:49.349Z,1628808349.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,00534,185,80,80,8C,FF
2021-08-12T22:45:49.349Z,1628808349.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:49.349Z,1628808349.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:49.351Z,1628808349.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:49.757Z,1628808349.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:50.161Z,1628808350.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00548,186,80,80,5F,FF
2021-08-12T22:45:50.161Z,1628808350.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:50.610Z,1628808350.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224550.87*55

2021-08-12T22:45:50.632Z,1628808350.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 164.396151 deg, deltaT: 4.468384 s, approachRate: 0.268553 m/s, LOS rate: -3.230319 deg/s, posRepo size: 4
2021-08-12T22:45:53.058Z,1628808353.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:53.389Z,1628808353.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:53.389Z,1628808353.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:53.389Z,1628808353.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:53.390Z,1628808353.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:53.793Z,1628808353.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00548,186,80,80,5F,FF
2021-08-12T22:45:53.793Z,1628808353.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:53.793Z,1628808353.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:53.795Z,1628808353.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:54.201Z,1628808354.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:54.605Z,1628808354.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00545,189,80,80,A9,FF
2021-08-12T22:45:54.606Z,1628808354.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:55.070Z,1628808355.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224555.32*5E

2021-08-12T22:45:55.153Z,1628808355.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 98.794663 deg, deltaT: 4.397477 s, approachRate: -0.040932 m/s, LOS rate: -14.917984 deg/s, posRepo size: 4
2021-08-12T22:45:57.133Z,1628808357.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:45:57.441Z,1628808357.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:45:57.441Z,1628808357.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:45:57.441Z,1628808357.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:45:57.442Z,1628808357.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:45:57.846Z,1628808357.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00545,189,80,80,A9,FF
2021-08-12T22:45:57.846Z,1628808357.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:45:57.846Z,1628808357.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:45:57.848Z,1628808357.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:45:58.244Z,1628808358.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:45:58.649Z,1628808358.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00540,189,80,80,B1,FF
2021-08-12T22:45:58.649Z,1628808358.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:45:59.089Z,1628808359.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224559.37*57

2021-08-12T22:45:59.161Z,1628808359.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 85.990798 deg, deltaT: 4.064958 s, approachRate: -0.073801 m/s, LOS rate: -3.149815 deg/s, posRepo size: 4
2021-08-12T22:46:01.500Z,1628808361.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:01.881Z,1628808361.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:01.881Z,1628808361.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:01.881Z,1628808361.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:01.882Z,1628808361.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:02.293Z,1628808362.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00540,189,80,80,B1,FF
2021-08-12T22:46:02.293Z,1628808362.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:02.293Z,1628808362.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:02.295Z,1628808362.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:02.719Z,1628808362.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:03.097Z,1628808363.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00536,189,80,80,A4,FF
2021-08-12T22:46:03.097Z,1628808363.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:03.529Z,1628808363.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224603.82*55

2021-08-12T22:46:03.559Z,1628808363.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 84.378969 deg, deltaT: 4.464647 s, approachRate: -0.134389 m/s, LOS rate: -0.361020 deg/s, posRepo size: 4
2021-08-12T22:46:05.125Z,1628808365.125 [PowerOnly](INFO): Powering down loadControl
2021-08-12T22:46:05.938Z,1628808365.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:06.333Z,1628808366.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:06.333Z,1628808366.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:06.333Z,1628808366.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:06.334Z,1628808366.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:06.765Z,1628808366.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00536,189,80,80,A4,FF
2021-08-12T22:46:06.766Z,1628808366.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:06.766Z,1628808366.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:06.768Z,1628808366.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:07.149Z,1628808367.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:07.549Z,1628808367.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00525,189,80,80,C7,FF
2021-08-12T22:46:07.549Z,1628808367.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:07.976Z,1628808367.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224608.30*57

2021-08-12T22:46:08.043Z,1628808368.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 83.986499 deg, deltaT: 4.408557 s, approachRate: -0.231368 m/s, LOS rate: -0.089024 deg/s, posRepo size: 4
2021-08-12T22:46:10.415Z,1628808370.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:10.789Z,1628808370.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:10.789Z,1628808370.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:10.789Z,1628808370.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:10.790Z,1628808370.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:11.198Z,1628808371.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00525,189,80,80,C7,FF
2021-08-12T22:46:11.199Z,1628808371.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:11.199Z,1628808371.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:11.200Z,1628808371.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:11.589Z,1628808371.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:12.021Z,1628808372.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051A,189,80,80,5D,FF
2021-08-12T22:46:12.021Z,1628808372.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:12.425Z,1628808372.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224612.72*5A

2021-08-12T22:46:12.455Z,1628808372.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 84.393647 deg, deltaT: 4.481814 s, approachRate: -0.147263 m/s, LOS rate: 0.090844 deg/s, posRepo size: 4
2021-08-12T22:46:14.897Z,1628808374.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:15.237Z,1628808375.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:15.237Z,1628808375.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:15.237Z,1628808375.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:15.238Z,1628808375.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:15.629Z,1628808375.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0051A,189,80,80,5D,FF
2021-08-12T22:46:15.629Z,1628808375.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:15.629Z,1628808375.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:15.631Z,1628808375.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:16.065Z,1628808376.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:16.441Z,1628808376.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00519,189,80,80,90,FF
2021-08-12T22:46:16.442Z,1628808376.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:16.878Z,1628808376.878 [Micromodem](INFO): Nmea in: $SNTTA,0.061809,,,,224617.15*46

2021-08-12T22:46:16.924Z,1628808376.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 85.396933 deg, deltaT: 4.410958 s, approachRate: -0.013602 m/s, LOS rate: 0.227453 deg/s, posRepo size: 4
2021-08-12T22:46:19.317Z,1628808379.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:19.670Z,1628808379.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:19.670Z,1628808379.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:19.670Z,1628808379.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:19.671Z,1628808379.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:20.070Z,1628808380.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00519,189,80,80,90,FF
2021-08-12T22:46:20.071Z,1628808380.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:20.071Z,1628808380.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:20.074Z,1628808380.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:20.481Z,1628808380.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:20.882Z,1628808380.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051E,189,80,80,71,FF
2021-08-12T22:46:20.883Z,1628808380.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:21.318Z,1628808381.318 [Micromodem](INFO): Nmea in: $SNTTA,0.047993,,,,224621.60*47

2021-08-12T22:46:21.343Z,1628808381.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 83.016120 deg, deltaT: 4.563256 s, approachRate: 0.065742 m/s, LOS rate: -0.521736 deg/s, posRepo size: 4
2021-08-12T22:46:23.738Z,1628808383.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:24.105Z,1628808384.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:24.105Z,1628808384.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:24.106Z,1628808384.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:24.107Z,1628808384.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:24.513Z,1628808384.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0051E,189,80,80,71,FF
2021-08-12T22:46:24.514Z,1628808384.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:24.514Z,1628808384.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:24.515Z,1628808384.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:24.994Z,1628808384.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:25.321Z,1628808385.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E7,000,0051E,18A,80,80,89,FF
2021-08-12T22:46:25.321Z,1628808385.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:25.774Z,1628808385.774 [Micromodem](INFO): Nmea in: $SNTTA,0.062242,,,,224626.04*42

2021-08-12T22:46:25.802Z,1628808385.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 85.742513 deg, deltaT: 4.385940 s, approachRate: 0.000000 m/s, LOS rate: 0.621621 deg/s, posRepo size: 4
2021-08-12T22:46:28.193Z,1628808388.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:28.553Z,1628808388.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:28.553Z,1628808388.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:28.553Z,1628808388.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:28.554Z,1628808388.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:28.961Z,1628808388.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E7,000,0051E,18A,80,80,89,FF
2021-08-12T22:46:28.961Z,1628808388.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:28.961Z,1628808388.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:28.963Z,1628808388.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:29.374Z,1628808389.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:29.773Z,1628808389.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00528,184,80,80,73,FF
2021-08-12T22:46:29.773Z,1628808389.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:30.213Z,1628808390.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224630.49*52

2021-08-12T22:46:30.243Z,1628808390.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 145.441324 deg, deltaT: 4.427154 s, approachRate: 0.135528 m/s, LOS rate: 13.484692 deg/s, posRepo size: 4
2021-08-12T22:46:32.628Z,1628808392.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:33.004Z,1628808393.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:33.005Z,1628808393.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:33.005Z,1628808393.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:33.007Z,1628808393.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:33.409Z,1628808393.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00528,184,80,80,73,FF
2021-08-12T22:46:33.409Z,1628808393.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:33.409Z,1628808393.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:33.411Z,1628808393.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:33.809Z,1628808393.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:34.217Z,1628808394.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,00532,186,80,80,72,FF
2021-08-12T22:46:34.217Z,1628808394.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:34.649Z,1628808394.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224634.94*56

2021-08-12T22:46:34.761Z,1628808394.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 138.906076 deg, deltaT: 4.433015 s, approachRate: 0.135348 m/s, LOS rate: -1.474222 deg/s, posRepo size: 4
2021-08-12T22:46:37.111Z,1628808397.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:37.441Z,1628808397.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:37.441Z,1628808397.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:37.441Z,1628808397.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:37.442Z,1628808397.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:37.854Z,1628808397.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,00532,186,80,80,72,FF
2021-08-12T22:46:37.854Z,1628808397.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:37.854Z,1628808397.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:37.857Z,1628808397.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:38.265Z,1628808398.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:38.653Z,1628808398.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0054A,184,80,80,7E,FF
2021-08-12T22:46:38.653Z,1628808398.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:39.097Z,1628808399.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224639.38*5D

2021-08-12T22:46:39.153Z,1628808399.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 150.876830 deg, deltaT: 4.475651 s, approachRate: 0.321741 m/s, LOS rate: 2.674640 deg/s, posRepo size: 4
2021-08-12T22:46:41.510Z,1628808401.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:41.889Z,1628808401.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:41.889Z,1628808401.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:41.889Z,1628808401.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:41.890Z,1628808401.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:42.293Z,1628808402.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0054A,184,80,80,7E,FF
2021-08-12T22:46:42.294Z,1628808402.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:42.294Z,1628808402.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:42.295Z,1628808402.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:42.744Z,1628808402.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:43.099Z,1628808403.099 [Micromodem](INFO): Nmea in: $SNTTA,0.044267,0.147605,,,224643.82*53

2021-08-12T22:46:44.343Z,1628808404.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:44.744Z,1628808404.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,369,000,05C2B,189,80,80,9B,FF
2021-08-12T22:46:44.745Z,1628808404.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:45.169Z,1628808405.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1378.199951 m, bearing: 104.041376 deg, deltaT: 6.091801 s, approachRate: 219.058365 m/s, LOS rate: -7.688277 deg/s, posRepo size: 4
2021-08-12T22:46:45.170Z,1628808405.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1378.20 m. Resuming terminal guidance.
2021-08-12T22:46:45.170Z,1628808405.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T22:46:47.582Z,1628808407.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:47.953Z,1628808407.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:47.954Z,1628808407.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:47.954Z,1628808407.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:47.955Z,1628808407.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:48.357Z,1628808408.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
369,000,05C2B,189,80,80,9B,FF
2021-08-12T22:46:48.357Z,1628808408.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:48.357Z,1628808408.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:48.359Z,1628808408.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:48.785Z,1628808408.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:49.161Z,1628808409.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,00572,188,80,80,A8,FF
2021-08-12T22:46:49.161Z,1628808409.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:49.593Z,1628808409.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224649.88*51

2021-08-12T22:46:49.623Z,1628808409.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 121.568420 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T22:46:49.624Z,1628808409.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 121.568420deg and heading rate command to 0 deg/s.
2021-08-12T22:46:50.014Z,1628808410.014 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:46:52.053Z,1628808412.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:52.397Z,1628808412.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:52.397Z,1628808412.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:52.397Z,1628808412.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:52.398Z,1628808412.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:52.797Z,1628808412.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,00572,188,80,80,A8,FF
2021-08-12T22:46:52.797Z,1628808412.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:52.797Z,1628808412.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:52.799Z,1628808412.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:53.201Z,1628808413.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:53.601Z,1628808413.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00591,186,80,80,74,FF
2021-08-12T22:46:53.601Z,1628808413.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:54.057Z,1628808414.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224654.32*5C

2021-08-12T22:46:54.083Z,1628808414.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 125.644704 deg, deltaT: 4.425685 s, approachRate: 0.420273 m/s, LOS rate: 0.921052 deg/s, posRepo size: 2
2021-08-12T22:46:54.085Z,1628808414.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 125.644704 deg,
      approachRate: 0.420273 m/s,
      LOS rate: 0.921052 deg/s,
      cmd update: 2.763155 deg/s,
      cmd heading: 121.568420 deg,
      new cmd heading: 121.568420 deg.

2021-08-12T22:46:56.447Z,1628808416.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:46:56.850Z,1628808416.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:46:56.850Z,1628808416.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:46:56.850Z,1628808416.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:46:56.851Z,1628808416.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:46:57.241Z,1628808417.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00591,186,80,80,74,FF
2021-08-12T22:46:57.241Z,1628808417.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:46:57.241Z,1628808417.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:46:57.243Z,1628808417.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:46:57.653Z,1628808417.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:46:58.069Z,1628808418.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,005A3,185,80,80,9F,FF
2021-08-12T22:46:58.069Z,1628808418.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:46:58.497Z,1628808418.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224658.77*51

2021-08-12T22:46:58.519Z,1628808418.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 111.740945 deg, deltaT: 4.506057 s, approachRate: 0.239678 m/s, LOS rate: -3.085571 deg/s, posRepo size: 3
2021-08-12T22:46:58.521Z,1628808418.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 111.740945 deg,
      approachRate: 0.239678 m/s,
      LOS rate: -3.085571 deg/s,
      cmd update: -9.256713 deg/s,
      cmd heading: 134.063496 deg,
      new cmd heading: 135.110914 deg.

2021-08-12T22:47:00.089Z,1628808420.089 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:47:00.941Z,1628808420.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:01.281Z,1628808421.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:01.282Z,1628808421.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:01.282Z,1628808421.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:01.283Z,1628808421.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:01.695Z,1628808421.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,005A3,185,80,80,9F,FF
2021-08-12T22:47:01.695Z,1628808421.695 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:01.695Z,1628808421.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:01.697Z,1628808421.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:02.093Z,1628808422.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:02.493Z,1628808422.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,005B8,186,80,80,63,FF
2021-08-12T22:47:02.494Z,1628808422.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:02.961Z,1628808422.961 [Micromodem](INFO): Nmea in: $SNTTA,0.051654,,,,224703.22*43

2021-08-12T22:47:03.061Z,1628808423.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 105.336516 deg, deltaT: 4.371070 s, approachRate: 0.288259 m/s, LOS rate: -1.465186 deg/s, posRepo size: 4
2021-08-12T22:47:03.063Z,1628808423.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 105.336516 deg,
      approachRate: 0.288259 m/s,
      LOS rate: -1.465186 deg/s,
      cmd update: -4.395557 deg/s,
      cmd heading: 93.564452 deg,
      new cmd heading: 88.549943 deg.

2021-08-12T22:47:05.077Z,1628808425.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:05.321Z,1628808425.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:05.321Z,1628808425.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:05.321Z,1628808425.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:05.322Z,1628808425.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:05.725Z,1628808425.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,005B8,186,80,80,63,FF
2021-08-12T22:47:05.725Z,1628808425.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:05.725Z,1628808425.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:05.727Z,1628808425.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:06.141Z,1628808426.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:06.533Z,1628808426.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,005B9,189,80,80,75,FF
2021-08-12T22:47:06.533Z,1628808426.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:07.002Z,1628808427.002 [Micromodem](INFO): Nmea in: $SNTTA,0.042563,,,,224707.25*45

2021-08-12T22:47:07.058Z,1628808427.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 146.741874 deg, deltaT: 4.067580 s, approachRate: 0.014752 m/s, LOS rate: 10.179360 deg/s, posRepo size: 4
2021-08-12T22:47:07.060Z,1628808427.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.400005 m,
      bearing: 146.741874 deg,
      approachRate: 0.014752 m/s,
      LOS rate: 10.179360 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 75.702886 deg,
      new cmd heading: 73.597700 deg.

2021-08-12T22:47:09.382Z,1628808429.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:09.769Z,1628808429.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:09.769Z,1628808429.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:09.769Z,1628808429.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:09.770Z,1628808429.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:10.177Z,1628808430.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,005B9,189,80,80,75,FF
2021-08-12T22:47:10.178Z,1628808430.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:10.178Z,1628808430.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:10.179Z,1628808430.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:10.209Z,1628808430.209 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T22:47:10.584Z,1628808430.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:10.991Z,1628808430.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005BA,189,80,80,C4,FF
2021-08-12T22:47:10.993Z,1628808430.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:11.004Z,1628808431.004 [Micromodem](INFO): Nmea in: $SNTTA,0.054429,0.163685,,,224711.70*5B

2021-08-12T22:47:11.431Z,1628808431.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 33.876423 deg, deltaT: 4.524693 s, approachRate: 0.013258 m/s, LOS rate: -24.944332 deg/s, posRepo size: 4
2021-08-12T22:47:11.432Z,1628808431.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.944332 deg/s. Setting heading cmd to target bearing of 33.876423deg and heading rate command to 0 deg/s.
2021-08-12T22:47:13.843Z,1628808433.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:14.217Z,1628808434.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:14.217Z,1628808434.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:14.217Z,1628808434.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:14.218Z,1628808434.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:14.625Z,1628808434.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005BA,189,80,80,C4,FF
2021-08-12T22:47:14.625Z,1628808434.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:14.625Z,1628808434.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:14.627Z,1628808434.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:15.076Z,1628808435.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:15.134Z,1628808435.134 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-12T22:47:15.859Z,1628808435.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224716.15*5E

2021-08-12T22:47:16.638Z,1628808436.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D05,000,038CA,189,80,80,87,FF
2021-08-12T22:47:16.638Z,1628808436.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:17.146Z,1628808437.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 834.780090 m, bearing: 138.602734 deg, deltaT: 5.555986 s, approachRate: 141.166672 m/s, LOS rate: 18.849275 deg/s, posRepo size: 4
2021-08-12T22:47:17.147Z,1628808437.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.849275 deg/s. Setting heading cmd to target bearing of 138.602734deg and heading rate command to 0 deg/s.
2021-08-12T22:47:19.503Z,1628808439.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:19.866Z,1628808439.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:19.866Z,1628808439.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:19.866Z,1628808439.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:19.867Z,1628808439.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:20.283Z,1628808440.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D05,000,038CA,189,80,80,87,FF
2021-08-12T22:47:20.283Z,1628808440.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:20.284Z,1628808440.284 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:20.286Z,1628808440.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:20.303Z,1628808440.303 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:47:20.717Z,1628808440.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:21.078Z,1628808441.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AD,189,80,80,AB,FF
2021-08-12T22:47:21.078Z,1628808441.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:21.517Z,1628808441.517 [Micromodem](INFO): Nmea in: $SNTTA,0.063094,,,,224721.81*41

2021-08-12T22:47:21.543Z,1628808441.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 41.408090 deg, deltaT: 4.491807 s, approachRate: -174.784912 m/s, LOS rate: -21.638205 deg/s, posRepo size: 4
2021-08-12T22:47:21.545Z,1628808441.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.638205 deg/s. Setting heading cmd to target bearing of 41.408090deg and heading rate command to 0 deg/s.
2021-08-12T22:47:23.972Z,1628808443.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:24.312Z,1628808444.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:24.312Z,1628808444.312 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:24.312Z,1628808444.312 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:24.313Z,1628808444.313 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:24.732Z,1628808444.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AD,189,80,80,AB,FF
2021-08-12T22:47:24.733Z,1628808444.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:24.733Z,1628808444.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:24.742Z,1628808444.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:25.133Z,1628808445.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:25.154Z,1628808445.154 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T22:47:25.521Z,1628808445.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,005B3,186,80,80,3A,FF
2021-08-12T22:47:25.521Z,1628808445.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:25.963Z,1628808445.963 [Micromodem](INFO): Nmea in: $SNTTA,0.041058,,,,224726.27*4A

2021-08-12T22:47:26.027Z,1628808446.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 80.958055 deg, deltaT: 4.414968 s, approachRate: 0.081541 m/s, LOS rate: 8.958154 deg/s, posRepo size: 4
2021-08-12T22:47:26.034Z,1628808446.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.039997 m,
      bearing: 80.958055 deg,
      approachRate: 0.081541 m/s,
      LOS rate: 8.958154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.408090 deg,
      new cmd heading: 41.408090 deg.

2021-08-12T22:47:28.394Z,1628808448.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:28.781Z,1628808448.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:28.781Z,1628808448.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:28.781Z,1628808448.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:28.782Z,1628808448.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:29.161Z,1628808449.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,005B3,186,80,80,3A,FF
2021-08-12T22:47:29.161Z,1628808449.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:29.162Z,1628808449.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:29.163Z,1628808449.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:29.565Z,1628808449.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:30.053Z,1628808450.053 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T22:47:30.406Z,1628808450.406 [Micromodem](INFO): Nmea in: $SNTTA,0.042223,,,,224730.69*4A

2021-08-12T22:47:30.785Z,1628808450.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,02E84,186,80,80,9C,FF
2021-08-12T22:47:30.785Z,1628808450.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:31.233Z,1628808451.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 676.979980 m, bearing: 69.069817 deg, deltaT: 5.292525 s, approachRate: 118.457634 m/s, LOS rate: -2.246232 deg/s, posRepo size: 4
2021-08-12T22:47:31.235Z,1628808451.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 676.979980 m,
      bearing: 69.069817 deg,
      approachRate: 118.457634 m/s,
      LOS rate: -2.246232 deg/s,
      cmd update: -6.738695 deg/s,
      cmd heading: 104.836059 deg,
      new cmd heading: 109.355416 deg.

2021-08-12T22:47:33.641Z,1628808453.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:34.022Z,1628808454.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:34.022Z,1628808454.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:34.023Z,1628808454.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:34.023Z,1628808454.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:34.418Z,1628808454.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,02E84,186,80,80,9C,FF
2021-08-12T22:47:34.418Z,1628808454.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:34.418Z,1628808454.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:34.420Z,1628808454.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:34.816Z,1628808454.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:35.217Z,1628808455.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A8,188,80,80,6C,FF
2021-08-12T22:47:35.217Z,1628808455.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:35.658Z,1628808455.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224735.94*56

2021-08-12T22:47:35.673Z,1628808455.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.380005 m, bearing: 12.280282 deg, deltaT: 4.413527 s, approachRate: -142.199188 m/s, LOS rate: -12.867154 deg/s, posRepo size: 4
2021-08-12T22:47:35.674Z,1628808455.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.867154 deg/s. Setting heading cmd to target bearing of 12.280282deg and heading rate command to 0 deg/s.
2021-08-12T22:47:38.101Z,1628808458.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:38.453Z,1628808458.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:38.453Z,1628808458.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:38.453Z,1628808458.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:38.454Z,1628808458.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:38.858Z,1628808458.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A8,188,80,80,6C,FF
2021-08-12T22:47:38.858Z,1628808458.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:38.858Z,1628808458.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:38.861Z,1628808458.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:39.260Z,1628808459.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:39.666Z,1628808459.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00595,189,80,80,98,FF
2021-08-12T22:47:39.667Z,1628808459.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:40.141Z,1628808460.141 [Micromodem](INFO): Nmea in: $SNTTA,0.051319,,,,224740.38*43

2021-08-12T22:47:40.184Z,1628808460.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.239998 m, bearing: 119.821175 deg, deltaT: 4.410914 s, approachRate: -0.258451 m/s, LOS rate: 24.380637 deg/s, posRepo size: 4
2021-08-12T22:47:40.185Z,1628808460.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.380637 deg/s. Setting heading cmd to target bearing of 119.821175deg and heading rate command to 0 deg/s.
2021-08-12T22:47:42.514Z,1628808462.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:42.909Z,1628808462.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:42.909Z,1628808462.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:42.909Z,1628808462.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:42.910Z,1628808462.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:43.301Z,1628808463.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00595,189,80,80,98,FF
2021-08-12T22:47:43.301Z,1628808463.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:43.301Z,1628808463.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:43.303Z,1628808463.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:43.704Z,1628808463.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:44.105Z,1628808464.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0058B,189,80,80,7F,FF
2021-08-12T22:47:44.105Z,1628808464.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:44.550Z,1628808464.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224744.82*57

2021-08-12T22:47:44.571Z,1628808464.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.639999 m, bearing: 1.580772 deg, deltaT: 4.472885 s, approachRate: -0.134141 m/s, LOS rate: -26.434932 deg/s, posRepo size: 4
2021-08-12T22:47:44.572Z,1628808464.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.434932 deg/s. Setting heading cmd to target bearing of 1.580772deg and heading rate command to 0 deg/s.
2021-08-12T22:47:47.037Z,1628808467.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:47.337Z,1628808467.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:47.337Z,1628808467.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:47.337Z,1628808467.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:47.338Z,1628808467.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:47.746Z,1628808467.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0058B,189,80,80,7F,FF
2021-08-12T22:47:47.746Z,1628808467.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:47.746Z,1628808467.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:47.748Z,1628808467.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:48.145Z,1628808468.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:48.553Z,1628808468.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00577,189,80,80,BC,FF
2021-08-12T22:47:48.554Z,1628808468.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:48.992Z,1628808468.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224749.27*55

2021-08-12T22:47:49.095Z,1628808469.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 348.437811 deg, deltaT: 4.410038 s, approachRate: -0.272107 m/s, LOS rate: -2.980239 deg/s, posRepo size: 4
2021-08-12T22:47:49.097Z,1628808469.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 348.437811 deg,
      approachRate: -0.272107 m/s,
      LOS rate: -2.980239 deg/s,
      cmd update: -8.940718 deg/s,
      cmd heading: 1.580772 deg,
      new cmd heading: 1.580772 deg.

2021-08-12T22:47:51.093Z,1628808471.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:51.381Z,1628808471.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:51.381Z,1628808471.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:51.382Z,1628808471.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:51.383Z,1628808471.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:51.793Z,1628808471.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00577,189,80,80,BC,FF
2021-08-12T22:47:51.794Z,1628808471.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:51.794Z,1628808471.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:51.795Z,1628808471.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:52.192Z,1628808472.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:52.593Z,1628808472.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D8,000,0055A,189,80,80,BB,FF
2021-08-12T22:47:52.594Z,1628808472.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:53.045Z,1628808473.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224753.32*5A

2021-08-12T22:47:53.140Z,1628808473.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.700001 m, bearing: 352.859375 deg, deltaT: 4.045159 s, approachRate: -0.430143 m/s, LOS rate: 1.093051 deg/s, posRepo size: 4
2021-08-12T22:47:53.142Z,1628808473.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.700001 m,
      bearing: 352.859375 deg,
      approachRate: -0.430143 m/s,
      LOS rate: 1.093051 deg/s,
      cmd update: 3.279152 deg/s,
      cmd heading: 325.414621 deg,
      new cmd heading: 320.760870 deg.

2021-08-12T22:47:55.139Z,1628808475.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:55.425Z,1628808475.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:55.425Z,1628808475.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:55.425Z,1628808475.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:55.426Z,1628808475.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:55.821Z,1628808475.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D8,000,0055A,189,80,80,BB,FF
2021-08-12T22:47:55.821Z,1628808475.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:55.821Z,1628808475.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:55.823Z,1628808475.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:47:56.233Z,1628808476.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:47:56.629Z,1628808476.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,0053A,189,80,80,BC,FF
2021-08-12T22:47:56.630Z,1628808476.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:47:57.075Z,1628808477.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224757.35*59

2021-08-12T22:47:57.139Z,1628808477.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 351.196798 deg, deltaT: 4.030381 s, approachRate: -0.476381 m/s, LOS rate: -0.412511 deg/s, posRepo size: 4
2021-08-12T22:47:57.141Z,1628808477.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 351.196798 deg,
      approachRate: -0.476381 m/s,
      LOS rate: -0.412511 deg/s,
      cmd update: -1.237534 deg/s,
      cmd heading: 338.630952 deg,
      new cmd heading: 340.248725 deg.

2021-08-12T22:47:59.153Z,1628808479.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:47:59.468Z,1628808479.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:47:59.468Z,1628808479.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:47:59.469Z,1628808479.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:47:59.469Z,1628808479.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:47:59.870Z,1628808479.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,0053A,189,80,80,BC,FF
2021-08-12T22:47:59.870Z,1628808479.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:47:59.870Z,1628808479.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:47:59.873Z,1628808479.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:00.271Z,1628808480.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:00.669Z,1628808480.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,0050C,186,80,80,56,FF
2021-08-12T22:48:00.670Z,1628808480.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:01.085Z,1628808481.085 [Micromodem](INFO): Nmea in: $SNTTA,0.104692,0.358313,,,224801.40*50

2021-08-12T22:48:01.166Z,1628808481.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 351.514210 deg, deltaT: 4.112251 s, approachRate: -0.671167 m/s, LOS rate: 0.077187 deg/s, posRepo size: 4
2021-08-12T22:48:01.168Z,1628808481.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.019997 m,
      bearing: 351.514210 deg,
      approachRate: -0.671167 m/s,
      LOS rate: 0.077187 deg/s,
      cmd update: 0.231561 deg/s,
      cmd heading: 333.558288 deg,
      new cmd heading: 333.036803 deg.

2021-08-12T22:48:03.542Z,1628808483.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:03.913Z,1628808483.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:03.913Z,1628808483.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:03.913Z,1628808483.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:03.914Z,1628808483.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:04.314Z,1628808484.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,0050C,186,80,80,56,FF
2021-08-12T22:48:04.314Z,1628808484.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:04.314Z,1628808484.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:04.316Z,1628808484.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:04.748Z,1628808484.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:05.126Z,1628808485.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,004DE,184,80,80,A7,FF
2021-08-12T22:48:05.126Z,1628808485.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:05.545Z,1628808485.545 [Micromodem](INFO): Nmea in: $SNTTA,0.057349,,,,224805.84*49

2021-08-12T22:48:05.567Z,1628808485.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 352.698975 deg, deltaT: 4.419189 s, approachRate: -0.624549 m/s, LOS rate: 0.268095 deg/s, posRepo size: 4
2021-08-12T22:48:05.588Z,1628808485.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-08-12T22:48:05.590Z,1628808485.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 352.698975 deg,
      approachRate: -0.624549 m/s,
      LOS rate: 0.268095 deg/s,
      cmd update: 0.804286 deg/s,
      cmd heading: 334.582722 deg,
      new cmd heading: 334.674985 deg.

2021-08-12T22:48:05.962Z,1628808485.962 [PowerOnly](INFO): Powering up loadControl
2021-08-12T22:48:06.026Z,1628808486.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T22:48:06.026Z,1628808486.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:48:06.026Z,1628808486.026 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T22:48:06.027Z,1628808486.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T22:48:06.027Z,1628808486.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T22:48:06.027Z,1628808486.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T22:48:06.386Z,1628808486.386 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T22:48:06.386Z,1628808486.386 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:48:06.386Z,1628808486.386 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T22:48:06.386Z,1628808486.386 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:48:08.016Z,1628808488.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:08.345Z,1628808488.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:08.345Z,1628808488.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:08.345Z,1628808488.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:08.346Z,1628808488.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:08.781Z,1628808488.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,004DE,184,80,80,A7,FF
2021-08-12T22:48:08.781Z,1628808488.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:08.781Z,1628808488.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:08.783Z,1628808488.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:09.186Z,1628808489.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:09.562Z,1628808489.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,004B0,187,80,80,88,FF
2021-08-12T22:48:09.562Z,1628808489.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:09.583Z,1628808489.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:10.004Z,1628808490.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224810.31*51

2021-08-12T22:48:10.070Z,1628808490.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 351.020961 deg, deltaT: 4.402912 s, approachRate: -0.626857 m/s, LOS rate: -0.381114 deg/s, posRepo size: 4
2021-08-12T22:48:10.070Z,1628808490.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m.
2021-08-12T22:48:10.072Z,1628808490.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.500000 m,
      bearing: 351.020961 deg,
      approachRate: -0.626857 m/s,
      LOS rate: -0.381114 deg/s,
      cmd update: -1.143343 deg/s,
      cmd heading: 338.130283 deg,
      new cmd heading: 338.512563 deg.

2021-08-12T22:48:12.415Z,1628808492.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:12.797Z,1628808492.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:12.797Z,1628808492.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:12.797Z,1628808492.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:12.798Z,1628808492.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:13.217Z,1628808493.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,004B0,187,80,80,88,FF
2021-08-12T22:48:13.217Z,1628808493.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:13.217Z,1628808493.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:13.219Z,1628808493.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:13.601Z,1628808493.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:14.037Z,1628808494.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00482,186,80,80,99,FF
2021-08-12T22:48:14.037Z,1628808494.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:14.068Z,1628808494.068 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:14.429Z,1628808494.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224814.74*54

2021-08-12T22:48:14.464Z,1628808494.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 354.139954 deg, deltaT: 4.485255 s, approachRate: -0.615349 m/s, LOS rate: 0.695388 deg/s, posRepo size: 4
2021-08-12T22:48:14.464Z,1628808494.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.74 m.
2021-08-12T22:48:14.466Z,1628808494.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.740002 m,
      bearing: 354.139954 deg,
      approachRate: -0.615349 m/s,
      LOS rate: 0.695388 deg/s,
      cmd update: 2.086164 deg/s,
      cmd heading: 333.002503 deg,
      new cmd heading: 332.546028 deg.

2021-08-12T22:48:16.895Z,1628808496.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:17.254Z,1628808497.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:17.254Z,1628808497.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:17.254Z,1628808497.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:17.255Z,1628808497.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:17.637Z,1628808497.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00482,186,80,80,99,FF
2021-08-12T22:48:17.637Z,1628808497.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:17.637Z,1628808497.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:17.639Z,1628808497.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:18.070Z,1628808498.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:18.445Z,1628808498.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00457,187,80,80,7C,FF
2021-08-12T22:48:18.446Z,1628808498.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:18.502Z,1628808498.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:18.913Z,1628808498.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224819.16*5D

2021-08-12T22:48:18.966Z,1628808498.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 354.508838 deg, deltaT: 4.434060 s, approachRate: -0.581859 m/s, LOS rate: 0.083193 deg/s, posRepo size: 4
2021-08-12T22:48:18.966Z,1628808498.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.16 m.
2021-08-12T22:48:18.967Z,1628808498.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.16 m.
2021-08-12T22:48:18.967Z,1628808498.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T22:48:18.969Z,1628808498.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.160002 m,
      bearing: 354.508838 deg,
      approachRate: -0.581859 m/s,
      LOS rate: 0.083193 deg/s,
      cmd update: 0.249580 deg/s,
      cmd heading: 342.236801 deg,
      new cmd heading: 343.228015 deg.

2021-08-12T22:48:21.323Z,1628808501.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:21.677Z,1628808501.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:21.677Z,1628808501.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:21.677Z,1628808501.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:21.678Z,1628808501.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:22.165Z,1628808502.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00457,187,80,80,7C,FF
2021-08-12T22:48:22.165Z,1628808502.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:22.165Z,1628808502.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:22.167Z,1628808502.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:22.501Z,1628808502.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:22.910Z,1628808502.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00429,186,80,80,A5,FF
2021-08-12T22:48:22.911Z,1628808502.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:23.027Z,1628808503.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:23.391Z,1628808503.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 349.980560 deg, deltaT: 4.525058 s, approachRate: -0.609938 m/s, LOS rate: -1.000712 deg/s, posRepo size: 4
2021-08-12T22:48:23.393Z,1628808503.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.399998 m,
      bearing: 349.980560 deg,
      approachRate: -0.609938 m/s,
      LOS rate: -1.000712 deg/s,
      cmd update: -3.002135 deg/s,
      cmd heading: 343.367198 deg,
      new cmd heading: 343.459750 deg.

2021-08-12T22:48:23.718Z,1628808503.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224823.69*5C

2021-08-12T22:48:25.747Z,1628808505.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:26.125Z,1628808506.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:26.125Z,1628808506.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:26.125Z,1628808506.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:26.126Z,1628808506.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:26.529Z,1628808506.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00429,186,80,80,A5,FF
2021-08-12T22:48:26.529Z,1628808506.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:26.529Z,1628808506.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:26.531Z,1628808506.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:26.937Z,1628808506.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:27.337Z,1628808507.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,003FA,187,80,80,3C,FF
2021-08-12T22:48:27.337Z,1628808507.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:27.358Z,1628808507.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:27.785Z,1628808507.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224828.05*5D

2021-08-12T22:48:27.839Z,1628808507.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 354.517718 deg, deltaT: 4.330984 s, approachRate: -0.651122 m/s, LOS rate: 1.047604 deg/s, posRepo size: 4
2021-08-12T22:48:27.846Z,1628808507.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.580000 m,
      bearing: 354.517718 deg,
      approachRate: -0.651122 m/s,
      LOS rate: 1.047604 deg/s,
      cmd update: 3.142813 deg/s,
      cmd heading: 330.353938 deg,
      new cmd heading: 328.899163 deg.

2021-08-12T22:48:30.193Z,1628808510.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:30.577Z,1628808510.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:30.578Z,1628808510.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:30.578Z,1628808510.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:30.579Z,1628808510.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:30.981Z,1628808510.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,003FA,187,80,80,3C,FF
2021-08-12T22:48:30.981Z,1628808510.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:30.982Z,1628808510.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:30.990Z,1628808510.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:31.388Z,1628808511.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:31.781Z,1628808511.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,003CC,189,80,80,5F,FF
2021-08-12T22:48:31.781Z,1628808511.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:31.850Z,1628808511.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:32.218Z,1628808512.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224832.51*57

2021-08-12T22:48:32.253Z,1628808512.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 4.468087 deg, deltaT: 4.492021 s, approachRate: -0.614422 m/s, LOS rate: 2.215122 deg/s, posRepo size: 4
2021-08-12T22:48:32.255Z,1628808512.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 4.468087 deg,
      approachRate: -0.614422 m/s,
      LOS rate: 2.215122 deg/s,
      cmd update: 6.645365 deg/s,
      cmd heading: 344.431925 deg,
      new cmd heading: 345.747067 deg.

2021-08-12T22:48:34.635Z,1628808514.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:35.094Z,1628808515.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:35.094Z,1628808515.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:35.094Z,1628808515.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:35.095Z,1628808515.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:35.426Z,1628808515.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,003CC,189,80,80,5F,FF
2021-08-12T22:48:35.426Z,1628808515.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:35.426Z,1628808515.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:35.428Z,1628808515.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:35.834Z,1628808515.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:36.226Z,1628808516.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,003A4,189,80,80,88,FF
2021-08-12T22:48:36.226Z,1628808516.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:36.302Z,1628808516.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:36.681Z,1628808516.681 [Micromodem](INFO): Nmea in: $SNTTA,,0.026719,,,224836.95*4E

2021-08-12T22:48:36.782Z,1628808516.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 3.690749 deg, deltaT: 4.451505 s, approachRate: -0.539144 m/s, LOS rate: -0.174624 deg/s, posRepo size: 4
2021-08-12T22:48:36.789Z,1628808516.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 3.690749 deg,
      approachRate: -0.539144 m/s,
      LOS rate: -0.174624 deg/s,
      cmd update: -0.523871 deg/s,
      cmd heading: 14.071822 deg,
      new cmd heading: 17.272496 deg.

2021-08-12T22:48:39.161Z,1628808519.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:39.469Z,1628808519.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:39.469Z,1628808519.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:39.469Z,1628808519.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:39.470Z,1628808519.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:39.874Z,1628808519.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,003A4,189,80,80,88,FF
2021-08-12T22:48:39.874Z,1628808519.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:39.874Z,1628808519.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:39.877Z,1628808519.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:40.273Z,1628808520.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:40.673Z,1628808520.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,0037F,187,80,80,94,FF
2021-08-12T22:48:40.673Z,1628808520.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:40.765Z,1628808520.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:41.105Z,1628808521.105 [Micromodem](INFO): Nmea in: $SNTTA,0.136204,,,,224841.40*4F

2021-08-12T22:48:41.163Z,1628808521.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 3.023955 deg, deltaT: 4.463605 s, approachRate: -0.497357 m/s, LOS rate: -0.149385 deg/s, posRepo size: 4
2021-08-12T22:48:41.181Z,1628808521.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 3.023955 deg,
      approachRate: -0.497357 m/s,
      LOS rate: -0.149385 deg/s,
      cmd update: -0.448154 deg/s,
      cmd heading: 11.733383 deg,
      new cmd heading: 11.521092 deg.

2021-08-12T22:48:43.519Z,1628808523.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:43.913Z,1628808523.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:43.913Z,1628808523.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:43.914Z,1628808523.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:43.914Z,1628808523.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:44.305Z,1628808524.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,0037F,187,80,80,94,FF
2021-08-12T22:48:44.305Z,1628808524.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:44.305Z,1628808524.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:44.307Z,1628808524.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:44.729Z,1628808524.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:45.141Z,1628808525.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,0034D,183,80,80,68,FF
2021-08-12T22:48:45.141Z,1628808525.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:45.212Z,1628808525.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:45.545Z,1628808525.545 [Micromodem](INFO): Nmea in: $SNTTA,,0.024244,,,224845.83*42

2021-08-12T22:48:45.587Z,1628808525.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 6.091443 deg, deltaT: 4.446959 s, approachRate: -0.674618 m/s, LOS rate: 0.689794 deg/s, posRepo size: 4
2021-08-12T22:48:45.589Z,1628808525.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 6.091443 deg,
      approachRate: -0.674618 m/s,
      LOS rate: 0.689794 deg/s,
      cmd update: 2.069383 deg/s,
      cmd heading: 9.742394 deg,
      new cmd heading: 9.569255 deg.

2021-08-12T22:48:47.963Z,1628808527.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:48.359Z,1628808528.359 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:48.359Z,1628808528.359 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:48.359Z,1628808528.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:48.360Z,1628808528.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:48.781Z,1628808528.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,0034D,183,80,80,68,FF
2021-08-12T22:48:48.781Z,1628808528.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:48.781Z,1628808528.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:48.783Z,1628808528.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:49.165Z,1628808529.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:49.561Z,1628808529.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00321,185,80,80,A8,FF
2021-08-12T22:48:49.562Z,1628808529.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:49.638Z,1628808529.638 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:49.989Z,1628808529.989 [Micromodem](INFO): Nmea in: $SNTTA,0.042129,,,,224850.31*47

2021-08-12T22:48:50.051Z,1628808530.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 10.638388 deg, deltaT: 4.426274 s, approachRate: -0.596438 m/s, LOS rate: 1.027262 deg/s, posRepo size: 4
2021-08-12T22:48:50.053Z,1628808530.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 10.638388 deg,
      approachRate: -0.596438 m/s,
      LOS rate: 1.027262 deg/s,
      cmd update: 3.081787 deg/s,
      cmd heading: 18.919294 deg,
      new cmd heading: 19.779267 deg.

2021-08-12T22:48:52.414Z,1628808532.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:52.793Z,1628808532.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:52.793Z,1628808532.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:52.793Z,1628808532.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:52.794Z,1628808532.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:53.193Z,1628808533.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00321,185,80,80,A8,FF
2021-08-12T22:48:53.193Z,1628808533.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:53.193Z,1628808533.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:53.195Z,1628808533.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:53.597Z,1628808533.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:54.017Z,1628808534.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00307,186,80,80,61,FF
2021-08-12T22:48:54.018Z,1628808534.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:54.079Z,1628808534.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:54.449Z,1628808534.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224854.72*56

2021-08-12T22:48:54.490Z,1628808534.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 5.476196 deg, deltaT: 4.440195 s, approachRate: -0.351336 m/s, LOS rate: -1.162605 deg/s, posRepo size: 4
2021-08-12T22:48:54.492Z,1628808534.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 5.476196 deg,
      approachRate: -0.351336 m/s,
      LOS rate: -1.162605 deg/s,
      cmd update: -3.487814 deg/s,
      cmd heading: 32.590767 deg,
      new cmd heading: 33.881139 deg.

2021-08-12T22:48:56.894Z,1628808536.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:48:57.237Z,1628808537.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:48:57.237Z,1628808537.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:48:57.237Z,1628808537.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:48:57.238Z,1628808537.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:48:57.633Z,1628808537.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00307,186,80,80,61,FF
2021-08-12T22:48:57.633Z,1628808537.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:48:57.633Z,1628808537.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:48:57.635Z,1628808537.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:48:58.060Z,1628808538.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:48:58.441Z,1628808538.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,002CE,185,80,80,80,FF
2021-08-12T22:48:58.442Z,1628808538.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:48:58.493Z,1628808538.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:48:58.889Z,1628808538.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224859.16*59

2021-08-12T22:48:58.951Z,1628808538.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 10.518881 deg, deltaT: 4.414756 s, approachRate: -0.774674 m/s, LOS rate: 1.142234 deg/s, posRepo size: 4
2021-08-12T22:48:58.957Z,1628808538.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 10.518881 deg,
      approachRate: -0.774674 m/s,
      LOS rate: 1.142234 deg/s,
      cmd update: 3.426703 deg/s,
      cmd heading: 17.192977 deg,
      new cmd heading: 15.594906 deg.

2021-08-12T22:49:01.301Z,1628808541.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:01.673Z,1628808541.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:01.673Z,1628808541.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:01.673Z,1628808541.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:01.674Z,1628808541.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:02.081Z,1628808542.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,002CE,185,80,80,80,FF
2021-08-12T22:49:02.081Z,1628808542.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:02.081Z,1628808542.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:02.083Z,1628808542.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:02.493Z,1628808542.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:02.893Z,1628808542.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,002BA,187,80,80,6C,FF
2021-08-12T22:49:02.893Z,1628808542.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:03.035Z,1628808543.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:03.333Z,1628808543.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224903.60*56

2021-08-12T22:49:03.364Z,1628808543.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 48.271331 deg, deltaT: 4.541643 s, approachRate: -0.264222 m/s, LOS rate: 8.312509 deg/s, posRepo size: 4
2021-08-12T22:49:03.366Z,1628808543.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 48.271331 deg,
      approachRate: -0.264222 m/s,
      LOS rate: 8.312509 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 32.755372 deg,
      new cmd heading: 33.906981 deg.

2021-08-12T22:49:05.755Z,1628808545.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:06.113Z,1628808546.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:06.113Z,1628808546.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:06.113Z,1628808546.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:06.114Z,1628808546.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:06.521Z,1628808546.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,002BA,187,80,80,6C,FF
2021-08-12T22:49:06.521Z,1628808546.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:06.521Z,1628808546.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:06.523Z,1628808546.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:06.937Z,1628808546.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:07.337Z,1628808547.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,002C4,185,80,80,C9,FF
2021-08-12T22:49:07.337Z,1628808547.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:07.358Z,1628808547.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:07.778Z,1628808547.778 [Micromodem](INFO): Nmea in: $SNTTA,0.037271,,,,224908.05*40

2021-08-12T22:49:07.803Z,1628808547.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 3.607145 deg, deltaT: 4.322546 s, approachRate: 0.138807 m/s, LOS rate: -10.332842 deg/s, posRepo size: 4
2021-08-12T22:49:07.805Z,1628808547.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 3.607145 deg,
      approachRate: 0.138807 m/s,
      LOS rate: -10.332842 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 84.674873 deg,
      new cmd heading: 90.060341 deg.

2021-08-12T22:49:10.212Z,1628808550.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:10.557Z,1628808550.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:10.557Z,1628808550.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:10.557Z,1628808550.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:10.558Z,1628808550.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:10.985Z,1628808550.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,002C4,185,80,80,C9,FF
2021-08-12T22:49:10.985Z,1628808550.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:10.986Z,1628808550.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:10.993Z,1628808550.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:11.378Z,1628808551.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:11.793Z,1628808551.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,002F7,187,80,80,6B,FF
2021-08-12T22:49:11.793Z,1628808551.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:11.813Z,1628808551.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:12.217Z,1628808552.217 [Micromodem](INFO): Nmea in: $SNTTA,0.031411,,,,224912.51*4C

2021-08-12T22:49:12.259Z,1628808552.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 53.975044 deg, deltaT: 4.455641 s, approachRate: 0.686770 m/s, LOS rate: 11.304299 deg/s, posRepo size: 4
2021-08-12T22:49:12.261Z,1628808552.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 53.975044 deg,
      approachRate: 0.686770 m/s,
      LOS rate: 11.304299 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.206243 deg,
      new cmd heading: 25.822647 deg.

2021-08-12T22:49:14.370Z,1628808554.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:14.617Z,1628808554.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:14.617Z,1628808554.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:14.617Z,1628808554.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:14.618Z,1628808554.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:15.049Z,1628808555.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,002F7,187,80,80,6B,FF
2021-08-12T22:49:15.049Z,1628808555.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:15.049Z,1628808555.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:15.051Z,1628808555.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:15.434Z,1628808555.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:15.841Z,1628808555.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,0031A,189,80,80,66,FF
2021-08-12T22:49:15.842Z,1628808555.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:15.874Z,1628808555.874 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:16.244Z,1628808556.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224916.58*59

2021-08-12T22:49:16.291Z,1628808556.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 88.350334 deg, deltaT: 4.060888 s, approachRate: 0.517128 m/s, LOS rate: 8.464968 deg/s, posRepo size: 4
2021-08-12T22:49:16.293Z,1628808556.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 88.350334 deg,
      approachRate: 0.517128 m/s,
      LOS rate: 8.464968 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 79.895152 deg,
      new cmd heading: 84.972112 deg.

2021-08-12T22:49:18.695Z,1628808558.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:19.077Z,1628808559.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:19.077Z,1628808559.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:19.078Z,1628808559.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:19.079Z,1628808559.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:19.469Z,1628808559.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,0031A,189,80,80,66,FF
2021-08-12T22:49:19.469Z,1628808559.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:19.469Z,1628808559.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:19.471Z,1628808559.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:19.882Z,1628808559.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:20.269Z,1628808560.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0033D,186,80,80,A9,FF
2021-08-12T22:49:20.269Z,1628808560.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:20.323Z,1628808560.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:20.736Z,1628808560.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224921.00*50

2021-08-12T22:49:20.788Z,1628808560.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 66.904845 deg, deltaT: 4.449446 s, approachRate: 0.471969 m/s, LOS rate: -4.819811 deg/s, posRepo size: 4
2021-08-12T22:49:20.790Z,1628808560.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 66.904845 deg,
      approachRate: 0.471969 m/s,
      LOS rate: -4.819811 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 133.326029 deg,
      new cmd heading: 138.935034 deg.

2021-08-12T22:49:23.155Z,1628808563.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:23.505Z,1628808563.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:23.505Z,1628808563.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:23.505Z,1628808563.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:23.506Z,1628808563.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:23.922Z,1628808563.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,0033D,186,80,80,A9,FF
2021-08-12T22:49:23.922Z,1628808563.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:23.923Z,1628808563.923 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:23.926Z,1628808563.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:24.317Z,1628808564.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:24.737Z,1628808564.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00380,186,80,80,4F,FF
2021-08-12T22:49:24.739Z,1628808564.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:24.817Z,1628808564.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:25.185Z,1628808565.185 [Micromodem](INFO): Nmea in: $SNTTA,0.035606,,,,224925.45*4D

2021-08-12T22:49:25.225Z,1628808565.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 74.091228 deg, deltaT: 4.493743 s, approachRate: 0.894577 m/s, LOS rate: 1.599198 deg/s, posRepo size: 4
2021-08-12T22:49:25.225Z,1628808565.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.26 m. Rolling out.
2021-08-12T22:49:25.225Z,1628808565.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T22:49:27.574Z,1628808567.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:27.945Z,1628808567.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:27.945Z,1628808567.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:27.945Z,1628808567.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:27.946Z,1628808567.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:28.354Z,1628808568.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00380,186,80,80,4F,FF
2021-08-12T22:49:28.354Z,1628808568.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:28.354Z,1628808568.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:28.355Z,1628808568.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:28.788Z,1628808568.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:29.161Z,1628808569.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,003A0,186,80,80,5E,FF
2021-08-12T22:49:29.161Z,1628808569.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:29.220Z,1628808569.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:29.614Z,1628808569.614 [Micromodem](INFO): Nmea in: $SNTTA,0.032132,,,,224929.88*47

2021-08-12T22:49:29.642Z,1628808569.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 51.034101 deg, deltaT: 4.403178 s, approachRate: 0.436048 m/s, LOS rate: -5.236474 deg/s, posRepo size: 4
2021-08-12T22:49:32.045Z,1628808572.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:32.389Z,1628808572.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:32.389Z,1628808572.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:32.389Z,1628808572.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:32.390Z,1628808572.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:32.793Z,1628808572.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,003A0,186,80,80,5E,FF
2021-08-12T22:49:32.793Z,1628808572.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:32.793Z,1628808572.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:32.795Z,1628808572.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:33.213Z,1628808573.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:33.601Z,1628808573.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,003C1,186,80,80,8E,FF
2021-08-12T22:49:33.601Z,1628808573.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:33.621Z,1628808573.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:34.057Z,1628808574.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224934.32*55

2021-08-12T22:49:34.083Z,1628808574.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 88.156869 deg, deltaT: 4.400758 s, approachRate: 0.449923 m/s, LOS rate: 8.435540 deg/s, posRepo size: 4
2021-08-12T22:49:36.459Z,1628808576.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:36.833Z,1628808576.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:36.833Z,1628808576.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:36.833Z,1628808576.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:36.834Z,1628808576.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:37.245Z,1628808577.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,003C1,186,80,80,8E,FF
2021-08-12T22:49:37.245Z,1628808577.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:37.245Z,1628808577.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:37.247Z,1628808577.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:37.653Z,1628808577.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:38.053Z,1628808578.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,003F3,184,80,80,6B,FF
2021-08-12T22:49:38.053Z,1628808578.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:38.107Z,1628808578.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:38.482Z,1628808578.482 [Micromodem](INFO): Nmea in: $SNTTA,0.359005,,,,224938.77*4C

2021-08-12T22:49:38.498Z,1628808578.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 72.183235 deg, deltaT: 4.502103 s, approachRate: 0.666355 m/s, LOS rate: -3.548038 deg/s, posRepo size: 4
2021-08-12T22:49:40.481Z,1628808580.481 [PowerOnly](INFO): Powering down loadControl
2021-08-12T22:49:40.922Z,1628808580.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:41.277Z,1628808581.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:41.277Z,1628808581.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:41.277Z,1628808581.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:41.278Z,1628808581.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:41.681Z,1628808581.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,003F3,184,80,80,6B,FF
2021-08-12T22:49:41.681Z,1628808581.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:41.681Z,1628808581.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:41.683Z,1628808581.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:42.089Z,1628808582.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:42.903Z,1628808582.903 [Micromodem](INFO): Nmea in: $SNTTA,0.452647,0.452522,,,224943.20*56

2021-08-12T22:49:43.727Z,1628808583.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:45.325Z,1628808585.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,6B,FF
2021-08-12T22:49:45.326Z,1628808585.326 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,6B,FF
2021-08-12T22:49:45.326Z,1628808585.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:49:46.555Z,1628808586.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:46.943Z,1628808586.943 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:46.943Z,1628808586.943 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:46.943Z,1628808586.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:46.945Z,1628808586.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:47.336Z,1628808587.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,6B,FF
2021-08-12T22:49:47.336Z,1628808587.336 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:47.337Z,1628808587.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:47.340Z,1628808587.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:47.745Z,1628808587.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:48.150Z,1628808588.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,0045C,186,80,80,6D,FF
2021-08-12T22:49:48.151Z,1628808588.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:48.180Z,1628808588.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:48.585Z,1628808588.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224948.86*51

2021-08-12T22:49:48.608Z,1628808588.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 58.076696 deg, deltaT: 10.056839 s, approachRate: 0.626440 m/s, LOS rate: -1.402681 deg/s, posRepo size: 4
2021-08-12T22:49:51.056Z,1628808591.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:51.389Z,1628808591.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:51.389Z,1628808591.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:51.389Z,1628808591.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:51.390Z,1628808591.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:51.781Z,1628808591.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,0045C,186,80,80,6D,FF
2021-08-12T22:49:51.781Z,1628808591.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:51.782Z,1628808591.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:51.783Z,1628808591.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:52.196Z,1628808592.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:52.589Z,1628808592.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00492,18A,80,80,21,FF
2021-08-12T22:49:52.589Z,1628808592.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:52.642Z,1628808592.642 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:53.037Z,1628808593.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224953.31*57

2021-08-12T22:49:53.103Z,1628808593.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 110.212991 deg, deltaT: 4.461439 s, approachRate: 0.726222 m/s, LOS rate: 11.685982 deg/s, posRepo size: 4
2021-08-12T22:49:55.446Z,1628808595.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:49:55.821Z,1628808595.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:49:55.821Z,1628808595.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:49:55.821Z,1628808595.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:49:55.822Z,1628808595.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:49:56.237Z,1628808596.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00492,18A,80,80,21,FF
2021-08-12T22:49:56.238Z,1628808596.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:49:56.238Z,1628808596.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:49:56.239Z,1628808596.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:49:56.648Z,1628808596.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:49:57.057Z,1628808597.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,004BC,189,80,80,45,FF
2021-08-12T22:49:57.057Z,1628808597.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:49:57.060Z,1628808597.060 [Micromodem](INFO): Nmea in: $SNTTA,0.172811,0.172918,,,224957.76*58

2021-08-12T22:49:57.142Z,1628808597.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:49:57.482Z,1628808597.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 112.100289 deg, deltaT: 4.500483 s, approachRate: 0.559941 m/s, LOS rate: 0.419354 deg/s, posRepo size: 4
2021-08-12T22:49:59.893Z,1628808599.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:00.269Z,1628808600.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:00.269Z,1628808600.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:00.269Z,1628808600.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:00.270Z,1628808600.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:00.669Z,1628808600.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,004BC,189,80,80,45,FF
2021-08-12T22:50:00.669Z,1628808600.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:00.669Z,1628808600.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:00.671Z,1628808600.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:01.086Z,1628808601.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:01.481Z,1628808601.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,004EA,18A,80,80,40,FF
2021-08-12T22:50:01.481Z,1628808601.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:01.533Z,1628808601.533 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:50:01.918Z,1628808601.918 [Micromodem](INFO): Nmea in: $SNTTA,0.137361,,,,225002.19*4E

2021-08-12T22:50:01.934Z,1628808601.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 109.823821 deg, deltaT: 4.390898 s, approachRate: 0.628573 m/s, LOS rate: -0.518452 deg/s, posRepo size: 4
2021-08-12T22:50:04.341Z,1628808604.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:04.743Z,1628808604.743 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:04.743Z,1628808604.743 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:04.743Z,1628808604.743 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:04.748Z,1628808604.748 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:05.109Z,1628808605.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,004EA,18A,80,80,40,FF
2021-08-12T22:50:05.109Z,1628808605.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:05.110Z,1628808605.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:05.111Z,1628808605.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:05.520Z,1628808605.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:06.355Z,1628808606.355 [Micromodem](INFO): Nmea in: $SNTTA,0.041731,,,,225006.63*46

2021-08-12T22:50:07.183Z,1628808607.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:07.958Z,1628808607.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,06E16,185,80,80,87,FF
2021-08-12T22:50:07.958Z,1628808607.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:08.017Z,1628808608.017 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:50:08.390Z,1628808608.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1653.420044 m, bearing: 93.258617 deg, deltaT: 6.484505 s, approachRate: 249.123108 m/s, LOS rate: -2.554583 deg/s, posRepo size: 4
2021-08-12T22:50:08.390Z,1628808608.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1653.42 m. Resuming terminal guidance.
2021-08-12T22:50:08.391Z,1628808608.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T22:50:08.848Z,1628808608.848 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T22:50:08.848Z,1628808608.848 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:50:08.849Z,1628808608.849 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T22:50:08.850Z,1628808608.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T22:50:08.850Z,1628808608.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T22:50:08.850Z,1628808608.850 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T22:50:09.191Z,1628808609.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T22:50:09.191Z,1628808609.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:50:09.191Z,1628808609.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T22:50:09.191Z,1628808609.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:50:10.835Z,1628808610.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:11.187Z,1628808611.187 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:11.188Z,1628808611.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:11.188Z,1628808611.188 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:11.189Z,1628808611.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:11.577Z,1628808611.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,06E16,185,80,80,87,FF
2021-08-12T22:50:11.577Z,1628808611.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:11.577Z,1628808611.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:11.579Z,1628808611.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:12.019Z,1628808612.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:12.389Z,1628808612.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,0055B,186,80,80,66,FF
2021-08-12T22:50:12.389Z,1628808612.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:12.817Z,1628808612.817 [Micromodem](INFO): Nmea in: $SNTTA,0.463597,0.463772,,,225013.10*51

2021-08-12T22:50:12.889Z,1628808612.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 96.914483 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T22:50:12.890Z,1628808612.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 96.914483deg and heading rate command to 0 deg/s.
2021-08-12T22:50:15.269Z,1628808615.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:15.617Z,1628808615.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:15.617Z,1628808615.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:15.617Z,1628808615.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:15.618Z,1628808615.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:16.053Z,1628808616.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,0055B,186,80,80,66,FF
2021-08-12T22:50:16.053Z,1628808616.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:16.053Z,1628808616.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:16.055Z,1628808616.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:16.433Z,1628808616.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:16.843Z,1628808616.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00588,186,80,80,9A,FF
2021-08-12T22:50:16.843Z,1628808616.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:17.261Z,1628808617.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225017.58*50

2021-08-12T22:50:17.286Z,1628808617.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 97.683993 deg, deltaT: 4.499057 s, approachRate: 0.600126 m/s, LOS rate: 0.171038 deg/s, posRepo size: 2
2021-08-12T22:50:17.288Z,1628808617.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.459999 m,
      bearing: 97.683993 deg,
      approachRate: 0.600126 m/s,
      LOS rate: 0.171038 deg/s,
      cmd update: 0.513114 deg/s,
      cmd heading: 96.914483 deg,
      new cmd heading: 96.914483 deg.

2021-08-12T22:50:19.684Z,1628808619.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:20.062Z,1628808620.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:20.062Z,1628808620.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:20.062Z,1628808620.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:20.063Z,1628808620.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:20.473Z,1628808620.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00588,186,80,80,9A,FF
2021-08-12T22:50:20.474Z,1628808620.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:20.474Z,1628808620.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:20.475Z,1628808620.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:20.884Z,1628808620.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:21.273Z,1628808621.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,005BB,185,80,80,75,FF
2021-08-12T22:50:21.273Z,1628808621.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:21.725Z,1628808621.725 [Micromodem](INFO): Nmea in: $SNTTA,0.150482,,,,225022.00*4F

2021-08-12T22:50:21.756Z,1628808621.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 110.022197 deg, deltaT: 4.400548 s, approachRate: 0.695368 m/s, LOS rate: 2.803788 deg/s, posRepo size: 3
2021-08-12T22:50:21.758Z,1628808621.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.520000 m,
      bearing: 110.022197 deg,
      approachRate: 0.695368 m/s,
      LOS rate: 2.803788 deg/s,
      cmd update: 8.411364 deg/s,
      cmd heading: 99.174673 deg,
      new cmd heading: 99.389432 deg.

2021-08-12T22:50:24.178Z,1628808624.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:24.505Z,1628808624.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:24.505Z,1628808624.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:24.505Z,1628808624.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:24.506Z,1628808624.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:24.918Z,1628808624.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,005BB,185,80,80,75,FF
2021-08-12T22:50:24.919Z,1628808624.919 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:24.919Z,1628808624.919 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:24.921Z,1628808624.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:25.321Z,1628808625.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:25.817Z,1628808625.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,005EB,187,80,80,67,FF
2021-08-12T22:50:25.818Z,1628808625.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:26.169Z,1628808626.169 [Micromodem](INFO): Nmea in: $SNTTA,0.050032,,,,225026.44*45

2021-08-12T22:50:26.228Z,1628808626.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.399998 m, bearing: 108.318023 deg, deltaT: 4.534157 s, approachRate: 0.635178 m/s, LOS rate: -0.375852 deg/s, posRepo size: 4
2021-08-12T22:50:26.230Z,1628808626.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.399998 m,
      bearing: 108.318023 deg,
      approachRate: 0.635178 m/s,
      LOS rate: -0.375852 deg/s,
      cmd update: -1.127557 deg/s,
      cmd heading: 137.324610 deg,
      new cmd heading: 140.310930 deg.

2021-08-12T22:50:28.567Z,1628808628.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:28.949Z,1628808628.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:28.949Z,1628808628.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:28.949Z,1628808628.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:28.950Z,1628808628.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:29.354Z,1628808629.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,005EB,187,80,80,67,FF
2021-08-12T22:50:29.354Z,1628808629.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:29.354Z,1628808629.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:29.355Z,1628808629.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:29.776Z,1628808629.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:30.165Z,1628808630.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0060F,189,80,80,56,FF
2021-08-12T22:50:30.167Z,1628808630.167 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:30.611Z,1628808630.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225030.88*58

2021-08-12T22:50:30.639Z,1628808630.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 147.880398 deg, deltaT: 4.383080 s, approachRate: 0.492806 m/s, LOS rate: 9.026158 deg/s, posRepo size: 4
2021-08-12T22:50:30.666Z,1628808630.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 147.880398 deg,
      approachRate: 0.492806 m/s,
      LOS rate: 9.026158 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 132.384021 deg,
      new cmd heading: 131.946976 deg.

2021-08-12T22:50:33.090Z,1628808633.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:33.393Z,1628808633.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:33.393Z,1628808633.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:33.393Z,1628808633.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:33.394Z,1628808633.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:33.801Z,1628808633.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,0060F,189,80,80,56,FF
2021-08-12T22:50:33.801Z,1628808633.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:33.801Z,1628808633.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:33.803Z,1628808633.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:34.226Z,1628808634.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:34.605Z,1628808634.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F23,000,0062A,187,80,80,7B,FF
2021-08-12T22:50:34.605Z,1628808634.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:35.121Z,1628808635.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 144.917107 deg, deltaT: 4.395512 s, approachRate: 0.368558 m/s, LOS rate: -0.674163 deg/s, posRepo size: 4
2021-08-12T22:50:35.123Z,1628808635.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.180004 m,
      bearing: 144.917107 deg,
      approachRate: 0.368558 m/s,
      LOS rate: -0.674163 deg/s,
      cmd update: -2.022489 deg/s,
      cmd heading: 185.129687 deg,
      new cmd heading: 190.777751 deg.

2021-08-12T22:50:37.470Z,1628808637.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:37.837Z,1628808637.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:37.837Z,1628808637.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:37.837Z,1628808637.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:37.838Z,1628808637.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:38.241Z,1628808638.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F23,000,0062A,187,80,80,7B,FF
2021-08-12T22:50:38.241Z,1628808638.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:38.242Z,1628808638.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:38.243Z,1628808638.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:38.645Z,1628808638.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:39.061Z,1628808639.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00636,185,80,80,86,FF
2021-08-12T22:50:39.061Z,1628808639.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:39.095Z,1628808639.095 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T22:50:39.494Z,1628808639.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225039.77*51

2021-08-12T22:50:39.515Z,1628808639.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 128.908455 deg, deltaT: 4.485024 s, approachRate: 0.160535 m/s, LOS rate: -3.569357 deg/s, posRepo size: 4
2021-08-12T22:50:39.517Z,1628808639.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 128.908455 deg,
      approachRate: 0.160535 m/s,
      LOS rate: -3.569357 deg/s,
      cmd update: -10.708071 deg/s,
      cmd heading: 176.083050 deg,
      new cmd heading: 175.281926 deg.

2021-08-12T22:50:41.896Z,1628808641.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:42.290Z,1628808642.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:42.290Z,1628808642.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:42.290Z,1628808642.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:42.291Z,1628808642.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:42.693Z,1628808642.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00636,185,80,80,86,FF
2021-08-12T22:50:42.694Z,1628808642.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:42.694Z,1628808642.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:42.723Z,1628808642.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:43.097Z,1628808643.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:43.499Z,1628808643.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00636,186,80,80,A1,FF
2021-08-12T22:50:43.499Z,1628808643.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:43.930Z,1628808643.930 [Micromodem](INFO): Nmea in: $SNTTA,0.051805,,,,225044.25*4B

2021-08-12T22:50:43.947Z,1628808643.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 195.609993 deg, deltaT: 4.380853 s, approachRate: 0.000000 m/s, LOS rate: 15.225695 deg/s, posRepo size: 4
2021-08-12T22:50:43.959Z,1628808643.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.225695 deg/s. Setting heading cmd to target bearing of 195.609993deg and heading rate command to 0 deg/s.
2021-08-12T22:50:46.354Z,1628808646.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:46.765Z,1628808646.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:46.765Z,1628808646.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:46.765Z,1628808646.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:46.766Z,1628808646.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:47.129Z,1628808647.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00636,186,80,80,A1,FF
2021-08-12T22:50:47.129Z,1628808647.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:47.129Z,1628808647.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:47.131Z,1628808647.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:47.545Z,1628808647.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:47.937Z,1628808647.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00637,187,80,80,86,FF
2021-08-12T22:50:47.937Z,1628808647.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:48.385Z,1628808648.385 [Micromodem](INFO): Nmea in: $SNTTA,0.047839,,,,225048.65*4B

2021-08-12T22:50:48.410Z,1628808648.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 187.852660 deg, deltaT: 4.502631 s, approachRate: 0.013323 m/s, LOS rate: -1.722844 deg/s, posRepo size: 4
2021-08-12T22:50:48.413Z,1628808648.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 187.852660 deg,
      approachRate: 0.013323 m/s,
      LOS rate: -1.722844 deg/s,
      cmd update: -5.168533 deg/s,
      cmd heading: 195.609993 deg,
      new cmd heading: 195.609993 deg.

2021-08-12T22:50:50.834Z,1628808650.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:51.177Z,1628808651.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:51.177Z,1628808651.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:51.177Z,1628808651.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:51.178Z,1628808651.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:51.578Z,1628808651.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00637,187,80,80,86,FF
2021-08-12T22:50:51.578Z,1628808651.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:51.578Z,1628808651.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:51.580Z,1628808651.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:52.008Z,1628808652.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:52.385Z,1628808652.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B91,000,0063B,18A,80,80,7B,FF
2021-08-12T22:50:52.386Z,1628808652.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:52.829Z,1628808652.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225053.10*5C

2021-08-12T22:50:52.910Z,1628808652.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 205.458879 deg, deltaT: 4.383152 s, approachRate: 0.054756 m/s, LOS rate: 4.016794 deg/s, posRepo size: 4
2021-08-12T22:50:52.917Z,1628808652.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.200001 m,
      bearing: 205.458879 deg,
      approachRate: 0.054756 m/s,
      LOS rate: 4.016794 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 172.861209 deg,
      new cmd heading: 170.232870 deg.

2021-08-12T22:50:55.269Z,1628808655.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:50:55.613Z,1628808655.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:50:55.613Z,1628808655.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:50:55.613Z,1628808655.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:50:55.614Z,1628808655.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:50:56.049Z,1628808656.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B91,000,0063B,18A,80,80,7B,FF
2021-08-12T22:50:56.049Z,1628808656.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:50:56.049Z,1628808656.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:50:56.052Z,1628808656.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:50:56.467Z,1628808656.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:50:56.862Z,1628808656.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,0064E,188,80,80,71,FF
2021-08-12T22:50:56.863Z,1628808656.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:50:57.309Z,1628808657.309 [Micromodem](INFO): Nmea in: $SNTTA,0.059343,,,,225057.57*4D

2021-08-12T22:50:57.364Z,1628808657.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 135.536361 deg, deltaT: 4.537590 s, approachRate: 0.251236 m/s, LOS rate: -15.409615 deg/s, posRepo size: 4
2021-08-12T22:50:57.365Z,1628808657.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.409615 deg/s. Setting heading cmd to target bearing of 135.536361deg and heading rate command to 0 deg/s.
2021-08-12T22:50:59.714Z,1628808659.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:00.097Z,1628808660.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:00.097Z,1628808660.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:00.097Z,1628808660.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:00.098Z,1628808660.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:00.501Z,1628808660.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,0064E,188,80,80,71,FF
2021-08-12T22:51:00.501Z,1628808660.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:00.501Z,1628808660.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:00.503Z,1628808660.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:00.921Z,1628808660.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:01.301Z,1628808661.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,00647,188,80,80,A7,FF
2021-08-12T22:51:01.301Z,1628808661.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:01.749Z,1628808661.749 [Micromodem](INFO): Nmea in: $SNTTA,0.081054,,,,225102.02*4C

2021-08-12T22:51:01.772Z,1628808661.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 217.291677 deg, deltaT: 4.414912 s, approachRate: -0.095133 m/s, LOS rate: 18.517994 deg/s, posRepo size: 4
2021-08-12T22:51:01.773Z,1628808661.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.517994 deg/s. Setting heading cmd to target bearing of 217.291677deg and heading rate command to 0 deg/s.
2021-08-12T22:51:04.163Z,1628808664.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:04.537Z,1628808664.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:04.537Z,1628808664.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:04.537Z,1628808664.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:04.538Z,1628808664.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:04.937Z,1628808664.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,00647,188,80,80,A7,FF
2021-08-12T22:51:04.937Z,1628808664.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:04.937Z,1628808664.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:04.939Z,1628808664.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:05.349Z,1628808665.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:05.745Z,1628808665.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00640,189,80,80,A6,FF
2021-08-12T22:51:05.745Z,1628808665.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:06.193Z,1628808666.193 [Micromodem](INFO): Nmea in: $SNTTA,0.066501,,,,225106.46*44

2021-08-12T22:51:06.223Z,1628808666.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 262.778250 deg, deltaT: 4.438870 s, approachRate: -0.094618 m/s, LOS rate: 10.247332 deg/s, posRepo size: 4
2021-08-12T22:51:06.250Z,1628808666.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 262.778250 deg,
      approachRate: -0.094618 m/s,
      LOS rate: 10.247332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 217.291677 deg,
      new cmd heading: 217.291677 deg.

2021-08-12T22:51:08.591Z,1628808668.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:08.979Z,1628808668.979 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:08.980Z,1628808668.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:08.981Z,1628808668.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:08.982Z,1628808668.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:09.389Z,1628808669.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00640,189,80,80,A6,FF
2021-08-12T22:51:09.389Z,1628808669.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:09.389Z,1628808669.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:09.391Z,1628808669.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:09.789Z,1628808669.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:10.197Z,1628808670.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00635,189,80,80,A5,FF
2021-08-12T22:51:10.199Z,1628808670.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:10.624Z,1628808670.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 272.710001 deg, deltaT: 4.479130 s, approachRate: -0.147351 m/s, LOS rate: 2.217339 deg/s, posRepo size: 4
2021-08-12T22:51:10.626Z,1628808670.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.840004 m,
      bearing: 272.710001 deg,
      approachRate: -0.147351 m/s,
      LOS rate: 2.217339 deg/s,
      cmd update: 6.652018 deg/s,
      cmd heading: 271.044286 deg,
      new cmd heading: 275.354182 deg.

2021-08-12T22:51:13.122Z,1628808673.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:13.425Z,1628808673.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:13.426Z,1628808673.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:13.426Z,1628808673.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:13.427Z,1628808673.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:13.825Z,1628808673.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00635,189,80,80,A5,FF
2021-08-12T22:51:13.825Z,1628808673.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:13.826Z,1628808673.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:13.827Z,1628808673.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:14.241Z,1628808674.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:14.645Z,1628808674.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C66,000,0061D,189,80,80,A3,FF
2021-08-12T22:51:14.646Z,1628808674.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:15.085Z,1628808675.085 [Micromodem](INFO): Nmea in: $SNTTA,0.046718,,,,225115.35*4A

2021-08-12T22:51:15.146Z,1628808675.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 272.675632 deg, deltaT: 4.394334 s, approachRate: -0.327694 m/s, LOS rate: -0.007821 deg/s, posRepo size: 4
2021-08-12T22:51:15.149Z,1628808675.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 272.675632 deg,
      approachRate: -0.327694 m/s,
      LOS rate: -0.007821 deg/s,
      cmd update: -0.023464 deg/s,
      cmd heading: 300.328617 deg,
      new cmd heading: 303.517787 deg.

2021-08-12T22:51:17.479Z,1628808677.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:17.881Z,1628808677.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:17.882Z,1628808677.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:17.882Z,1628808677.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:17.883Z,1628808677.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:18.269Z,1628808678.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C66,000,0061D,189,80,80,A3,FF
2021-08-12T22:51:18.269Z,1628808678.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:18.269Z,1628808678.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:18.271Z,1628808678.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:18.722Z,1628808678.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:19.083Z,1628808679.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,005F0,189,80,80,98,FF
2021-08-12T22:51:19.083Z,1628808679.083 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:19.525Z,1628808679.525 [Micromodem](INFO): Nmea in: $SNTTA,0.061344,,,,225119.79*46

2021-08-12T22:51:19.561Z,1628808679.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 282.454468 deg, deltaT: 4.443443 s, approachRate: -0.607637 m/s, LOS rate: 2.200734 deg/s, posRepo size: 4
2021-08-12T22:51:19.563Z,1628808679.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 282.454468 deg,
      approachRate: -0.607637 m/s,
      LOS rate: 2.200734 deg/s,
      cmd update: 6.602203 deg/s,
      cmd heading: 300.224356 deg,
      new cmd heading: 300.213787 deg.

2021-08-12T22:51:21.941Z,1628808681.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:22.318Z,1628808682.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:22.318Z,1628808682.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:22.318Z,1628808682.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:22.319Z,1628808682.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:22.747Z,1628808682.747 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,005F0,189,80,80,98,FF
2021-08-12T22:51:22.747Z,1628808682.747 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:22.747Z,1628808682.747 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:22.748Z,1628808682.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:23.152Z,1628808683.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:23.557Z,1628808683.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,005CB,187,80,80,64,FF
2021-08-12T22:51:23.558Z,1628808683.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:24.010Z,1628808684.010 [Micromodem](INFO): Nmea in: $SNTTA,0.046364,,,,225124.27*44

2021-08-12T22:51:24.068Z,1628808684.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 281.916140 deg, deltaT: 4.464069 s, approachRate: -0.497306 m/s, LOS rate: -0.120591 deg/s, posRepo size: 4
2021-08-12T22:51:24.070Z,1628808684.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.479996 m,
      bearing: 281.916140 deg,
      approachRate: -0.497306 m/s,
      LOS rate: -0.120591 deg/s,
      cmd update: -0.361774 deg/s,
      cmd heading: 329.696787 deg,
      new cmd heading: 332.928288 deg.

2021-08-12T22:51:26.410Z,1628808686.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:26.804Z,1628808686.804 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:26.805Z,1628808686.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:26.805Z,1628808686.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:26.806Z,1628808686.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:27.185Z,1628808687.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,005CB,187,80,80,64,FF
2021-08-12T22:51:27.185Z,1628808687.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:27.185Z,1628808687.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:27.187Z,1628808687.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:27.607Z,1628808687.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:28.021Z,1628808688.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00599,186,80,80,87,FF
2021-08-12T22:51:28.022Z,1628808688.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:28.445Z,1628808688.445 [Micromodem](INFO): Nmea in: $SNTTA,0.043254,,,,225128.71*4C

2021-08-12T22:51:28.491Z,1628808688.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 280.290828 deg, deltaT: 4.515872 s, approachRate: -0.664323 m/s, LOS rate: -0.359911 deg/s, posRepo size: 4
2021-08-12T22:51:28.493Z,1628808688.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.480000 m,
      bearing: 280.290828 deg,
      approachRate: -0.664323 m/s,
      LOS rate: -0.359911 deg/s,
      cmd update: -1.079733 deg/s,
      cmd heading: 328.066276 deg,
      new cmd heading: 327.917895 deg.

2021-08-12T22:51:30.889Z,1628808690.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:31.235Z,1628808691.235 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:31.235Z,1628808691.235 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:31.235Z,1628808691.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:31.247Z,1628808691.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:31.629Z,1628808691.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00599,186,80,80,87,FF
2021-08-12T22:51:31.629Z,1628808691.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:31.629Z,1628808691.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:31.633Z,1628808691.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:32.068Z,1628808692.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:32.451Z,1628808692.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,0056B,189,80,80,A7,FF
2021-08-12T22:51:32.453Z,1628808692.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:32.881Z,1628808692.881 [Micromodem](INFO): Nmea in: $SNTTA,0.173630,0.475429,,,225133.16*54

2021-08-12T22:51:32.942Z,1628808692.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.719997 m, bearing: 273.180109 deg, deltaT: 4.389447 s, approachRate: -0.628781 m/s, LOS rate: -1.619958 deg/s, posRepo size: 4
2021-08-12T22:51:32.944Z,1628808692.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.719997 m,
      bearing: 273.180109 deg,
      approachRate: -0.628781 m/s,
      LOS rate: -1.619958 deg/s,
      cmd update: -4.859873 deg/s,
      cmd heading: 323.319976 deg,
      new cmd heading: 322.819129 deg.

2021-08-12T22:51:35.317Z,1628808695.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:35.669Z,1628808695.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:35.669Z,1628808695.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:35.669Z,1628808695.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:35.670Z,1628808695.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:36.081Z,1628808696.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,0056B,189,80,80,A7,FF
2021-08-12T22:51:36.081Z,1628808696.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:36.081Z,1628808696.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:36.083Z,1628808696.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:36.477Z,1628808696.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:36.882Z,1628808696.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E7,000,00541,188,80,80,C2,FF
2021-08-12T22:51:36.882Z,1628808696.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:37.327Z,1628808697.327 [Micromodem](INFO): Nmea in: $SNTTA,0.046246,,,,225137.60*44

2021-08-12T22:51:37.383Z,1628808697.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 272.514958 deg, deltaT: 4.476318 s, approachRate: -0.562962 m/s, LOS rate: -0.148593 deg/s, posRepo size: 4
2021-08-12T22:51:37.402Z,1628808697.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.200001 m,
      bearing: 272.514958 deg,
      approachRate: -0.562962 m/s,
      LOS rate: -0.148593 deg/s,
      cmd update: -0.445780 deg/s,
      cmd heading: 301.581733 deg,
      new cmd heading: 299.479016 deg.

2021-08-12T22:51:39.734Z,1628808699.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:40.113Z,1628808700.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:40.113Z,1628808700.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:40.113Z,1628808700.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:40.114Z,1628808700.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:40.522Z,1628808700.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E7,000,00541,188,80,80,C2,FF
2021-08-12T22:51:40.522Z,1628808700.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:40.522Z,1628808700.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:40.524Z,1628808700.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:40.925Z,1628808700.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:41.331Z,1628808701.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,0051A,189,80,80,A7,FF
2021-08-12T22:51:41.331Z,1628808701.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:41.783Z,1628808701.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 272.920344 deg, deltaT: 4.403280 s, approachRate: -0.531423 m/s, LOS rate: 0.092064 deg/s, posRepo size: 4
2021-08-12T22:51:41.786Z,1628808701.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 272.920344 deg,
      approachRate: -0.531423 m/s,
      LOS rate: 0.092064 deg/s,
      cmd update: 0.276193 deg/s,
      cmd heading: 299.616234 deg,
      new cmd heading: 299.427010 deg.

2021-08-12T22:51:44.201Z,1628808704.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:44.557Z,1628808704.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:44.557Z,1628808704.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:44.557Z,1628808704.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:44.558Z,1628808704.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:44.985Z,1628808704.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,0051A,189,80,80,A7,FF
2021-08-12T22:51:44.985Z,1628808704.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:44.986Z,1628808704.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:44.996Z,1628808704.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:45.379Z,1628808705.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:45.769Z,1628808705.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,004F5,186,80,80,7E,FF
2021-08-12T22:51:45.769Z,1628808705.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:46.195Z,1628808706.195 [Micromodem](INFO): Nmea in: $SNTTA,0.081384,,,,225146.52*47

2021-08-12T22:51:46.237Z,1628808706.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 277.639431 deg, deltaT: 4.455260 s, approachRate: -0.498287 m/s, LOS rate: 1.059217 deg/s, posRepo size: 4
2021-08-12T22:51:46.238Z,1628808706.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.64 m.
2021-08-12T22:51:46.240Z,1628808706.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.639999 m,
      bearing: 277.639431 deg,
      approachRate: -0.498287 m/s,
      LOS rate: 1.059217 deg/s,
      cmd update: 3.177651 deg/s,
      cmd heading: 300.845618 deg,
      new cmd heading: 300.963505 deg.

2021-08-12T22:51:46.622Z,1628808706.622 [PowerOnly](INFO): Powering up loadControl
2021-08-12T22:51:46.659Z,1628808706.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T22:51:46.659Z,1628808706.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:51:46.661Z,1628808706.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T22:51:46.662Z,1628808706.662 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T22:51:46.663Z,1628808706.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T22:51:46.663Z,1628808706.663 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T22:51:47.160Z,1628808707.160 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T22:51:47.160Z,1628808707.160 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:51:47.161Z,1628808707.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T22:51:47.161Z,1628808707.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T22:51:48.626Z,1628808708.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:49.001Z,1628808709.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:49.001Z,1628808709.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:49.001Z,1628808709.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:49.002Z,1628808709.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:49.405Z,1628808709.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,004F5,186,80,80,7E,FF
2021-08-12T22:51:49.405Z,1628808709.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:49.405Z,1628808709.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:49.407Z,1628808709.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:49.837Z,1628808709.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:50.213Z,1628808710.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,004C0,189,80,80,50,FF
2021-08-12T22:51:50.213Z,1628808710.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:50.283Z,1628808710.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:51:50.661Z,1628808710.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225150.93*55

2021-08-12T22:51:50.751Z,1628808710.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 263.033426 deg, deltaT: 4.465762 s, approachRate: -0.712084 m/s, LOS rate: -3.270663 deg/s, posRepo size: 4
2021-08-12T22:51:50.752Z,1628808710.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-08-12T22:51:50.754Z,1628808710.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 263.033426 deg,
      approachRate: -0.712084 m/s,
      LOS rate: -3.270663 deg/s,
      cmd update: -9.811990 deg/s,
      cmd heading: 315.025237 deg,
      new cmd heading: 316.546366 deg.

2021-08-12T22:51:53.111Z,1628808713.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:53.441Z,1628808713.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:53.441Z,1628808713.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:53.442Z,1628808713.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:53.443Z,1628808713.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:53.854Z,1628808713.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,004C0,189,80,80,50,FF
2021-08-12T22:51:53.854Z,1628808713.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:53.855Z,1628808713.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:53.857Z,1628808713.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:54.257Z,1628808714.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:54.663Z,1628808714.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37F,000,00492,189,80,80,77,FF
2021-08-12T22:51:54.663Z,1628808714.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:54.759Z,1628808714.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:51:55.089Z,1628808715.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225155.38*51

2021-08-12T22:51:55.153Z,1628808715.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 261.226240 deg, deltaT: 4.476169 s, approachRate: -0.616600 m/s, LOS rate: -0.403735 deg/s, posRepo size: 4
2021-08-12T22:51:55.154Z,1628808715.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.70 m.
2021-08-12T22:51:55.160Z,1628808715.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 261.226240 deg,
      approachRate: -0.616600 m/s,
      LOS rate: -0.403735 deg/s,
      cmd update: -1.211205 deg/s,
      cmd heading: 271.040607 deg,
      new cmd heading: 267.177950 deg.

2021-08-12T22:51:57.503Z,1628808717.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:51:57.897Z,1628808717.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:51:57.898Z,1628808717.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:51:57.898Z,1628808717.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:51:57.899Z,1628808717.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:51:58.293Z,1628808718.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37F,000,00492,189,80,80,77,FF
2021-08-12T22:51:58.293Z,1628808718.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:51:58.294Z,1628808718.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:51:58.295Z,1628808718.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:51:58.736Z,1628808718.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:51:59.101Z,1628808719.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00474,189,80,80,74,FF
2021-08-12T22:51:59.101Z,1628808719.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:51:59.188Z,1628808719.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:51:59.569Z,1628808719.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225159.82*5C

2021-08-12T22:51:59.605Z,1628808719.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 263.477553 deg, deltaT: 4.429515 s, approachRate: -0.406364 m/s, LOS rate: 0.508253 deg/s, posRepo size: 4
2021-08-12T22:51:59.606Z,1628808719.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.90 m.
2021-08-12T22:51:59.606Z,1628808719.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.90 m.
2021-08-12T22:51:59.606Z,1628808719.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T22:51:59.608Z,1628808719.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.900002 m,
      bearing: 263.477553 deg,
      approachRate: -0.406364 m/s,
      LOS rate: 0.508253 deg/s,
      cmd update: 1.524758 deg/s,
      cmd heading: 265.677967 deg,
      new cmd heading: 265.166483 deg.

2021-08-12T22:52:01.951Z,1628808721.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:02.333Z,1628808722.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:02.333Z,1628808722.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:02.333Z,1628808722.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:02.334Z,1628808722.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:02.785Z,1628808722.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00474,189,80,80,74,FF
2021-08-12T22:52:02.785Z,1628808722.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:02.785Z,1628808722.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:02.787Z,1628808722.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:03.265Z,1628808723.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:03.675Z,1628808723.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,186,000,00443,186,80,80,88,FF
2021-08-12T22:52:03.675Z,1628808723.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:03.695Z,1628808723.695 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:04.093Z,1628808724.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225204.31*5F

2021-08-12T22:52:04.154Z,1628808724.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 262.736723 deg, deltaT: 4.506427 s, approachRate: -0.652403 m/s, LOS rate: -0.164394 deg/s, posRepo size: 4
2021-08-12T22:52:04.171Z,1628808724.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.959997 m,
      bearing: 262.736723 deg,
      approachRate: -0.652403 m/s,
      LOS rate: -0.164394 deg/s,
      cmd update: -0.493182 deg/s,
      cmd heading: 272.553229 deg,
      new cmd heading: 273.251806 deg.

2021-08-12T22:52:06.552Z,1628808726.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:06.901Z,1628808726.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:06.902Z,1628808726.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:06.902Z,1628808726.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:06.903Z,1628808726.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:07.306Z,1628808727.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
186,000,00443,186,80,80,88,FF
2021-08-12T22:52:07.306Z,1628808727.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:07.307Z,1628808727.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:07.308Z,1628808727.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:07.708Z,1628808727.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:08.106Z,1628808728.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00413,186,80,80,47,FF
2021-08-12T22:52:08.106Z,1628808728.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:08.130Z,1628808728.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:08.535Z,1628808728.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225208.87*5E

2021-08-12T22:52:08.580Z,1628808728.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 261.924340 deg, deltaT: 4.435453 s, approachRate: -0.649313 m/s, LOS rate: -0.183157 deg/s, posRepo size: 4
2021-08-12T22:52:08.582Z,1628808728.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 261.924340 deg,
      approachRate: -0.649313 m/s,
      LOS rate: -0.183157 deg/s,
      cmd update: -0.549470 deg/s,
      cmd heading: 270.365740 deg,
      new cmd heading: 270.146550 deg.

2021-08-12T22:52:08.946Z,1628808728.946 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T22:52:11.047Z,1628808731.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:11.338Z,1628808731.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:11.338Z,1628808731.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:11.338Z,1628808731.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:11.339Z,1628808731.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:11.744Z,1628808731.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00413,186,80,80,47,FF
2021-08-12T22:52:11.744Z,1628808731.744 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:11.745Z,1628808731.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:11.746Z,1628808731.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:12.153Z,1628808732.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:12.557Z,1628808732.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,003E8,186,80,80,8C,FF
2021-08-12T22:52:12.557Z,1628808732.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:12.577Z,1628808732.577 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:13.009Z,1628808733.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225213.27*5E

2021-08-12T22:52:13.078Z,1628808733.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 259.616611 deg, deltaT: 4.446670 s, approachRate: -0.580209 m/s, LOS rate: -0.518979 deg/s, posRepo size: 4
2021-08-12T22:52:13.085Z,1628808733.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 259.616611 deg,
      approachRate: -0.580209 m/s,
      LOS rate: -0.518979 deg/s,
      cmd update: -1.556938 deg/s,
      cmd heading: 267.922418 deg,
      new cmd heading: 267.645242 deg.

2021-08-12T22:52:15.417Z,1628808735.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:15.816Z,1628808735.816 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:15.816Z,1628808735.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:15.817Z,1628808735.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:15.817Z,1628808735.817 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:16.190Z,1628808736.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,003E8,186,80,80,8C,FF
2021-08-12T22:52:16.190Z,1628808736.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:16.190Z,1628808736.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:16.192Z,1628808736.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:16.606Z,1628808736.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:16.998Z,1628808736.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,003B8,186,80,80,9B,FF
2021-08-12T22:52:16.998Z,1628808736.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:17.092Z,1628808737.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:17.445Z,1628808737.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225217.71*59

2021-08-12T22:52:17.469Z,1628808737.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 258.763329 deg, deltaT: 4.515242 s, approachRate: -0.637839 m/s, LOS rate: -0.188978 deg/s, posRepo size: 4
2021-08-12T22:52:17.471Z,1628808737.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 258.763329 deg,
      approachRate: -0.637839 m/s,
      LOS rate: -0.188978 deg/s,
      cmd update: -0.566934 deg/s,
      cmd heading: 260.906215 deg,
      new cmd heading: 260.301274 deg.

2021-08-12T22:52:19.051Z,1628808739.051 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 68
2021-08-12T22:52:19.056Z,1628808739.056 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:52:19.895Z,1628808739.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:20.248Z,1628808740.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:20.249Z,1628808740.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:20.249Z,1628808740.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:20.250Z,1628808740.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:20.649Z,1628808740.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,003B8,186,80,80,9B,FF
2021-08-12T22:52:20.649Z,1628808740.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:20.649Z,1628808740.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:20.651Z,1628808740.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:21.047Z,1628808741.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:21.445Z,1628808741.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00390,184,80,80,71,FF
2021-08-12T22:52:21.445Z,1628808741.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:21.492Z,1628808741.492 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:21.897Z,1628808741.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225222.17*5F

2021-08-12T22:52:21.919Z,1628808741.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 258.206368 deg, deltaT: 4.400045 s, approachRate: -0.545449 m/s, LOS rate: -0.126581 deg/s, posRepo size: 4
2021-08-12T22:52:21.921Z,1628808741.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.206368 deg,
      approachRate: -0.545449 m/s,
      LOS rate: -0.126581 deg/s,
      cmd update: -0.379742 deg/s,
      cmd heading: 258.409061 deg,
      new cmd heading: 258.162881 deg.

2021-08-12T22:52:24.321Z,1628808744.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:24.684Z,1628808744.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:24.685Z,1628808744.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:24.685Z,1628808744.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:24.687Z,1628808744.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:25.089Z,1628808745.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00390,184,80,80,71,FF
2021-08-12T22:52:25.089Z,1628808745.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:25.089Z,1628808745.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:25.091Z,1628808745.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:25.488Z,1628808745.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:25.886Z,1628808745.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00357,182,80,80,9B,FF
2021-08-12T22:52:25.886Z,1628808745.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:25.906Z,1628808745.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:26.333Z,1628808746.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225226.61*5A

2021-08-12T22:52:26.370Z,1628808746.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 256.147940 deg, deltaT: 4.413794 s, approachRate: -0.774843 m/s, LOS rate: -0.466362 deg/s, posRepo size: 4
2021-08-12T22:52:26.372Z,1628808746.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 256.147940 deg,
      approachRate: -0.774843 m/s,
      LOS rate: -0.466362 deg/s,
      cmd update: -1.399087 deg/s,
      cmd heading: 256.731373 deg,
      new cmd heading: 256.554174 deg.

2021-08-12T22:52:28.839Z,1628808748.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:29.117Z,1628808749.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:29.118Z,1628808749.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:29.118Z,1628808749.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:29.119Z,1628808749.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:29.533Z,1628808749.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00357,182,80,80,9B,FF
2021-08-12T22:52:29.533Z,1628808749.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:29.534Z,1628808749.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:29.535Z,1628808749.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:29.922Z,1628808749.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:30.354Z,1628808750.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00323,185,80,80,54,FF
2021-08-12T22:52:30.354Z,1628808750.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:30.420Z,1628808750.420 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:30.798Z,1628808750.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225231.06*5D

2021-08-12T22:52:30.836Z,1628808750.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 255.616797 deg, deltaT: 4.514166 s, approachRate: -0.691158 m/s, LOS rate: -0.117661 deg/s, posRepo size: 4
2021-08-12T22:52:30.838Z,1628808750.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 255.616797 deg,
      approachRate: -0.691158 m/s,
      LOS rate: -0.117661 deg/s,
      cmd update: -0.352984 deg/s,
      cmd heading: 250.427156 deg,
      new cmd heading: 249.830182 deg.

2021-08-12T22:52:33.199Z,1628808753.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:33.573Z,1628808753.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:33.573Z,1628808753.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:33.573Z,1628808753.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:33.574Z,1628808753.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:33.970Z,1628808753.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00323,185,80,80,54,FF
2021-08-12T22:52:33.970Z,1628808753.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:33.970Z,1628808753.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:33.972Z,1628808753.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:34.413Z,1628808754.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:34.797Z,1628808754.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,002F7,186,80,80,B5,FF
2021-08-12T22:52:34.797Z,1628808754.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:34.893Z,1628808754.893 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:35.233Z,1628808755.233 [Micromodem](INFO): Nmea in: $SNTTA,0.027501,,,,225235.49*4D

2021-08-12T22:52:35.258Z,1628808755.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 257.329016 deg, deltaT: 4.472919 s, approachRate: -0.590219 m/s, LOS rate: 0.382797 deg/s, posRepo size: 4
2021-08-12T22:52:35.260Z,1628808755.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 257.329016 deg,
      approachRate: -0.590219 m/s,
      LOS rate: 0.382797 deg/s,
      cmd update: 1.148390 deg/s,
      cmd heading: 248.846829 deg,
      new cmd heading: 248.715447 deg.

2021-08-12T22:52:37.678Z,1628808757.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:38.013Z,1628808758.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:38.013Z,1628808758.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:38.013Z,1628808758.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:38.014Z,1628808758.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:38.433Z,1628808758.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,002F7,186,80,80,B5,FF
2021-08-12T22:52:38.433Z,1628808758.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:38.433Z,1628808758.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:38.435Z,1628808758.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:38.832Z,1628808758.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:39.241Z,1628808759.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,002D0,186,80,80,99,FF
2021-08-12T22:52:39.242Z,1628808759.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:39.265Z,1628808759.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:39.647Z,1628808759.647 [Micromodem](INFO): Nmea in: $SNTTA,0.006965,,,,225239.96*4E

2021-08-12T22:52:39.668Z,1628808759.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 260.471286 deg, deltaT: 4.372209 s, approachRate: -0.535199 m/s, LOS rate: 0.718692 deg/s, posRepo size: 4
2021-08-12T22:52:39.670Z,1628808759.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 260.471286 deg,
      approachRate: -0.535199 m/s,
      LOS rate: 0.718692 deg/s,
      cmd update: 2.156075 deg/s,
      cmd heading: 253.872568 deg,
      new cmd heading: 254.338017 deg.

2021-08-12T22:52:42.078Z,1628808762.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:42.462Z,1628808762.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:42.462Z,1628808762.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:42.462Z,1628808762.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:42.463Z,1628808762.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:42.859Z,1628808762.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,002D0,186,80,80,99,FF
2021-08-12T22:52:42.860Z,1628808762.860 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:42.861Z,1628808762.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:42.863Z,1628808762.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:43.290Z,1628808763.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:43.661Z,1628808763.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,002C0,189,80,80,66,FF
2021-08-12T22:52:43.662Z,1628808763.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:43.734Z,1628808763.734 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:44.115Z,1628808764.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225244.38*52

2021-08-12T22:52:44.129Z,1628808764.129 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-12T22:52:44.129Z,1628808764.129 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-12T22:52:44.129Z,1628808764.129 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-12T22:52:44.130Z,1628808764.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:52:44.130Z,1628808764.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-12T22:52:44.130Z,1628808764.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-12T22:52:44.130Z,1628808764.130 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-12T22:52:44.131Z,1628808764.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-12T22:52:44.131Z,1628808764.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-12T22:52:44.133Z,1628808764.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 290.109717 deg, deltaT: 4.468511 s, approachRate: -0.214836 m/s, LOS rate: 6.632731 deg/s, posRepo size: 4
2021-08-12T22:52:44.135Z,1628808764.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 290.109717 deg,
      approachRate: -0.214836 m/s,
      LOS rate: 6.632731 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 263.502726 deg,
      new cmd heading: 264.375113 deg.

2021-08-12T22:52:44.518Z,1628808764.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210812T225244: (41.552319, -70.708603)
2021-08-12T22:52:44.518Z,1628808764.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-12T22:52:44.518Z,1628808764.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-12T22:52:44.519Z,1628808764.519 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-12T22:52:46.541Z,1628808766.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:46.909Z,1628808766.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:46.909Z,1628808766.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:46.909Z,1628808766.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:46.910Z,1628808766.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:47.318Z,1628808767.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D24,000,002C0,189,80,80,66,FF
2021-08-12T22:52:47.318Z,1628808767.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:47.319Z,1628808767.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:47.326Z,1628808767.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:47.712Z,1628808767.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:48.106Z,1628808768.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,002CA,187,80,80,77,FF
2021-08-12T22:52:48.107Z,1628808768.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:48.205Z,1628808768.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:48.535Z,1628808768.535 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225248.85*58

2021-08-12T22:52:48.555Z,1628808768.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 276.269923 deg, deltaT: 4.471304 s, approachRate: 0.134189 m/s, LOS rate: -3.095248 deg/s, posRepo size: 4
2021-08-12T22:52:48.557Z,1628808768.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 276.269923 deg,
      approachRate: 0.134189 m/s,
      LOS rate: -3.095248 deg/s,
      cmd update: -9.285743 deg/s,
      cmd heading: 317.134088 deg,
      new cmd heading: 321.419624 deg.

2021-08-12T22:52:50.986Z,1628808770.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:51.341Z,1628808771.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:51.342Z,1628808771.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:51.342Z,1628808771.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:51.343Z,1628808771.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:51.741Z,1628808771.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,002CA,187,80,80,77,FF
2021-08-12T22:52:51.741Z,1628808771.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:51.741Z,1628808771.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:51.743Z,1628808771.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:52.148Z,1628808772.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:52.549Z,1628808772.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00300,185,80,80,7E,FF
2021-08-12T22:52:52.549Z,1628808772.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:52.599Z,1628808772.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:53.002Z,1628808773.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225253.27*5A

2021-08-12T22:52:53.081Z,1628808773.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 301.964548 deg, deltaT: 4.398299 s, approachRate: 0.736648 m/s, LOS rate: 5.841946 deg/s, posRepo size: 4
2021-08-12T22:52:53.083Z,1628808773.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 301.964548 deg,
      approachRate: 0.736648 m/s,
      LOS rate: 5.841946 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.332050 deg,
      new cmd heading: 271.830118 deg.

2021-08-12T22:52:55.397Z,1628808775.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:52:55.809Z,1628808775.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:52:55.809Z,1628808775.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:52:55.809Z,1628808775.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:52:55.810Z,1628808775.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:52:56.198Z,1628808776.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00300,185,80,80,7E,FF
2021-08-12T22:52:56.198Z,1628808776.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:52:56.198Z,1628808776.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:52:56.199Z,1628808776.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:52:56.597Z,1628808776.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:52:57.009Z,1628808777.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00327,186,80,80,88,FF
2021-08-12T22:52:57.009Z,1628808777.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:52:57.135Z,1628808777.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:52:57.449Z,1628808777.449 [Micromodem](INFO): Nmea in: $SNTTA,0.033500,,,,225257.72*45

2021-08-12T22:52:57.483Z,1628808777.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 311.433868 deg, deltaT: 4.531596 s, approachRate: 0.516375 m/s, LOS rate: 2.089621 deg/s, posRepo size: 4
2021-08-12T22:52:57.485Z,1628808777.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 311.433868 deg,
      approachRate: 0.516375 m/s,
      LOS rate: 2.089621 deg/s,
      cmd update: 6.268864 deg/s,
      cmd heading: 330.810180 deg,
      new cmd heading: 335.023092 deg.

2021-08-12T22:52:59.845Z,1628808779.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:00.229Z,1628808780.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:00.229Z,1628808780.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:00.230Z,1628808780.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:00.230Z,1628808780.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:00.641Z,1628808780.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00327,186,80,80,88,FF
2021-08-12T22:53:00.642Z,1628808780.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:00.642Z,1628808780.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:00.643Z,1628808780.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:01.049Z,1628808781.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:01.441Z,1628808781.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00343,183,80,80,99,FF
2021-08-12T22:53:01.441Z,1628808781.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:01.496Z,1628808781.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:01.878Z,1628808781.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225302.17*5C

2021-08-12T22:53:01.935Z,1628808781.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 300.378114 deg, deltaT: 4.360905 s, approachRate: 0.385240 m/s, LOS rate: -2.535197 deg/s, posRepo size: 4
2021-08-12T22:53:01.942Z,1628808781.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 300.378114 deg,
      approachRate: 0.385240 m/s,
      LOS rate: -2.535197 deg/s,
      cmd update: -7.605592 deg/s,
      cmd heading: 358.021399 deg,
      new cmd heading: 0.897723 deg.

2021-08-12T22:53:04.291Z,1628808784.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:04.681Z,1628808784.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:04.681Z,1628808784.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:04.682Z,1628808784.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:04.683Z,1628808784.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:05.085Z,1628808785.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00343,183,80,80,99,FF
2021-08-12T22:53:05.085Z,1628808785.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:05.085Z,1628808785.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:05.087Z,1628808785.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:05.485Z,1628808785.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:05.893Z,1628808785.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,0036F,187,80,80,9E,FF
2021-08-12T22:53:05.894Z,1628808785.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:05.930Z,1628808785.930 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:06.327Z,1628808786.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 345.628800 deg, deltaT: 4.433830 s, approachRate: 0.595423 m/s, LOS rate: 10.205778 deg/s, posRepo size: 4
2021-08-12T22:53:06.328Z,1628808786.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.24 m. Rolling out.
2021-08-12T22:53:06.328Z,1628808786.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T22:53:08.793Z,1628808788.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:09.136Z,1628808789.136 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:09.136Z,1628808789.136 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:09.137Z,1628808789.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:09.137Z,1628808789.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:09.525Z,1628808789.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,0036F,187,80,80,9E,FF
2021-08-12T22:53:09.525Z,1628808789.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:09.525Z,1628808789.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:09.527Z,1628808789.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:09.932Z,1628808789.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:10.348Z,1628808790.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00394,186,80,80,9A,FF
2021-08-12T22:53:10.348Z,1628808790.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:10.402Z,1628808790.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:10.793Z,1628808790.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225311.05*5D

2021-08-12T22:53:10.847Z,1628808790.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 1.687994 deg, deltaT: 4.471751 s, approachRate: 0.496449 m/s, LOS rate: 3.591252 deg/s, posRepo size: 4
2021-08-12T22:53:13.182Z,1628808793.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:13.565Z,1628808793.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:13.565Z,1628808793.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:13.566Z,1628808793.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:13.567Z,1628808793.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:13.973Z,1628808793.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00394,186,80,80,9A,FF
2021-08-12T22:53:13.974Z,1628808793.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:13.974Z,1628808793.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:13.975Z,1628808793.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:14.409Z,1628808794.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:14.785Z,1628808794.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,003C0,187,80,80,89,FF
2021-08-12T22:53:14.785Z,1628808794.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:14.854Z,1628808794.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:15.205Z,1628808795.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225315.50*59

2021-08-12T22:53:15.255Z,1628808795.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 331.793678 deg, deltaT: 4.452088 s, approachRate: 0.592981 m/s, LOS rate: -6.714671 deg/s, posRepo size: 4
2021-08-12T22:53:17.619Z,1628808797.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:18.005Z,1628808798.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:18.005Z,1628808798.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:18.005Z,1628808798.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:18.006Z,1628808798.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:18.413Z,1628808798.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,003C0,187,80,80,89,FF
2021-08-12T22:53:18.414Z,1628808798.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:18.414Z,1628808798.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:18.415Z,1628808798.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:18.816Z,1628808798.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:19.217Z,1628808799.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,003FC,189,80,80,79,FF
2021-08-12T22:53:19.217Z,1628808799.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:19.279Z,1628808799.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:19.649Z,1628808799.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225319.94*5D

2021-08-12T22:53:19.689Z,1628808799.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 354.918513 deg, deltaT: 4.425131 s, approachRate: 0.813535 m/s, LOS rate: 5.225797 deg/s, posRepo size: 4
2021-08-12T22:53:21.282Z,1628808801.282 [PowerOnly](INFO): Powering down loadControl
2021-08-12T22:53:22.137Z,1628808802.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:22.457Z,1628808802.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:22.457Z,1628808802.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:22.457Z,1628808802.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:22.458Z,1628808802.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:22.877Z,1628808802.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,003FC,189,80,80,79,FF
2021-08-12T22:53:22.878Z,1628808802.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:22.878Z,1628808802.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:22.883Z,1628808802.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:22.938Z,1628808802.938 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:53:23.260Z,1628808803.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:23.657Z,1628808803.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,00425,189,80,80,45,FF
2021-08-12T22:53:23.658Z,1628808803.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:23.682Z,1628808803.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:24.097Z,1628808804.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225324.41*5B

2021-08-12T22:53:24.146Z,1628808804.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 356.217861 deg, deltaT: 4.403421 s, approachRate: 0.558657 m/s, LOS rate: 0.295077 deg/s, posRepo size: 4
2021-08-12T22:53:26.510Z,1628808806.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:26.905Z,1628808806.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:26.905Z,1628808806.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:26.905Z,1628808806.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:26.906Z,1628808806.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:27.301Z,1628808807.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,00425,189,80,80,45,FF
2021-08-12T22:53:27.302Z,1628808807.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:27.302Z,1628808807.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:27.305Z,1628808807.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:27.709Z,1628808807.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:28.109Z,1628808808.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00456,189,80,80,83,FF
2021-08-12T22:53:28.109Z,1628808808.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:28.129Z,1628808808.129 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:28.558Z,1628808808.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225328.83*59

2021-08-12T22:53:28.583Z,1628808808.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 351.346488 deg, deltaT: 4.447278 s, approachRate: 0.661078 m/s, LOS rate: -1.095361 deg/s, posRepo size: 4
2021-08-12T22:53:30.561Z,1628808810.561 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-12T22:53:30.980Z,1628808810.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:31.351Z,1628808811.351 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:31.352Z,1628808811.352 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:31.352Z,1628808811.352 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:31.353Z,1628808811.353 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:31.745Z,1628808811.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00456,189,80,80,83,FF
2021-08-12T22:53:31.745Z,1628808811.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:31.745Z,1628808811.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:31.747Z,1628808811.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:32.153Z,1628808812.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:32.557Z,1628808812.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,0048B,188,80,80,58,FF
2021-08-12T22:53:32.557Z,1628808812.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:32.611Z,1628808812.611 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:32.994Z,1628808812.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225333.27*5D

2021-08-12T22:53:33.028Z,1628808813.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 348.490486 deg, deltaT: 4.481038 s, approachRate: 0.709657 m/s, LOS rate: -0.637353 deg/s, posRepo size: 4
2021-08-12T22:53:35.423Z,1628808815.423 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-12T22:53:35.454Z,1628808815.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:35.781Z,1628808815.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:35.781Z,1628808815.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:35.781Z,1628808815.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:35.782Z,1628808815.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:36.197Z,1628808816.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,0048B,188,80,80,58,FF
2021-08-12T22:53:36.197Z,1628808816.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:36.197Z,1628808816.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:36.199Z,1628808816.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:36.600Z,1628808816.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:37.013Z,1628808817.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,004C8,186,80,80,76,FF
2021-08-12T22:53:37.013Z,1628808817.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:37.052Z,1628808817.052 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:37.445Z,1628808817.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225337.72*59

2021-08-12T22:53:37.475Z,1628808817.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 345.678223 deg, deltaT: 4.441491 s, approachRate: 0.824048 m/s, LOS rate: -0.633180 deg/s, posRepo size: 4
2021-08-12T22:53:39.849Z,1628808819.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:40.233Z,1628808820.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:40.233Z,1628808820.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:40.233Z,1628808820.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:40.234Z,1628808820.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:40.629Z,1628808820.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,004C8,186,80,80,76,FF
2021-08-12T22:53:40.629Z,1628808820.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:40.629Z,1628808820.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:40.631Z,1628808820.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:41.067Z,1628808821.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:41.442Z,1628808821.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,004EF,187,80,80,A0,FF
2021-08-12T22:53:41.442Z,1628808821.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:41.476Z,1628808821.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:41.889Z,1628808821.889 [Micromodem](INFO): Nmea in: $SNTTA,0.025124,,,,225342.16*47

2021-08-12T22:53:41.928Z,1628808821.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 344.333496 deg, deltaT: 4.424274 s, approachRate: 0.528900 m/s, LOS rate: -0.303943 deg/s, posRepo size: 4
2021-08-12T22:53:43.903Z,1628808823.903 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T22:53:43.903Z,1628808823.903 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T22:53:43.903Z,1628808823.903 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T22:53:43.904Z,1628808823.904 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:53:43.904Z,1628808823.904 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T22:53:44.287Z,1628808824.287 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:53:44.357Z,1628808824.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:44.679Z,1628808824.679 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:44.679Z,1628808824.679 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:44.680Z,1628808824.680 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:44.681Z,1628808824.681 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:44.882Z,1628808824.882 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400
2021-08-12T22:53:44.882Z,1628808824.882 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:53:45.210Z,1628808825.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,004EF,187,80,80,A0,FF
2021-08-12T22:53:45.210Z,1628808825.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:45.210Z,1628808825.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:45.212Z,1628808825.212 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:53:45.213Z,1628808825.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:45.703Z,1628808825.703 [Micromodem](INFO): Nmea in: $CADRQ,225346,1,10,0,64,1*72

2021-08-12T22:53:45.703Z,1628808825.703 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225346,1,10,0,64,1*72

2021-08-12T22:53:46.113Z,1628808826.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,0052E,186,80,80,70,FF
2021-08-12T22:53:46.113Z,1628808826.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:46.119Z,1628808826.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:46.373Z,1628808826.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T22:53:46.589Z,1628808826.589 [Micromodem](INFO): Nmea in: $SNTTA,0.062873,,,,225346.74*4F

2021-08-12T22:53:46.633Z,1628808826.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 345.586999 deg, deltaT: 4.897420 s, approachRate: 0.771836 m/s, LOS rate: 0.255952 deg/s, posRepo size: 4
2021-08-12T22:53:47.029Z,1628808827.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T22:53:47.029Z,1628808827.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:53:47.029Z,1628808827.029 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T22:53:47.030Z,1628808827.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T22:53:47.030Z,1628808827.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T22:53:47.030Z,1628808827.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T22:53:47.467Z,1628808827.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T22:53:47.467Z,1628808827.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:53:47.468Z,1628808827.468 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T22:53:47.468Z,1628808827.468 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T22:53:49.041Z,1628808829.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:49.405Z,1628808829.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:49.405Z,1628808829.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:49.405Z,1628808829.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:49.406Z,1628808829.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:49.793Z,1628808829.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0052E,186,80,80,70,FF
2021-08-12T22:53:49.793Z,1628808829.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:49.794Z,1628808829.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:49.795Z,1628808829.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:50.221Z,1628808830.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:50.649Z,1628808830.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,0055F,186,80,80,AF,FF
2021-08-12T22:53:50.649Z,1628808830.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:51.066Z,1628808831.066 [Micromodem](INFO): Nmea in: $SNTTA,0.029635,,,,225351.32*48

2021-08-12T22:53:51.087Z,1628808831.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 343.553406 deg, deltaT: 4.397021 s, approachRate: 0.668634 m/s, LOS rate: -0.462493 deg/s, posRepo size: 4
2021-08-12T22:53:53.532Z,1628808833.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:53.884Z,1628808833.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:53.884Z,1628808833.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:53.884Z,1628808833.884 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:53.885Z,1628808833.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:54.285Z,1628808834.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,0055F,186,80,80,AF,FF
2021-08-12T22:53:54.285Z,1628808834.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:54.285Z,1628808834.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:54.287Z,1628808834.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:54.741Z,1628808834.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:55.097Z,1628808835.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00594,186,80,80,7E,FF
2021-08-12T22:53:55.098Z,1628808835.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:53:55.525Z,1628808835.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225355.81*51

2021-08-12T22:53:55.561Z,1628808835.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 346.063528 deg, deltaT: 4.346204 s, approachRate: 0.731672 m/s, LOS rate: 0.577544 deg/s, posRepo size: 4
2021-08-12T22:53:57.966Z,1628808837.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:53:58.336Z,1628808838.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:53:58.337Z,1628808838.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:53:58.337Z,1628808838.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:53:58.339Z,1628808838.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:53:58.765Z,1628808838.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00594,186,80,80,7E,FF
2021-08-12T22:53:58.765Z,1628808838.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:53:58.765Z,1628808838.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:53:58.767Z,1628808838.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:53:59.346Z,1628808839.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:53:59.719Z,1628808839.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,005C8,186,80,80,87,FF
2021-08-12T22:53:59.720Z,1628808839.720 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:00.133Z,1628808840.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225400.29*54

2021-08-12T22:54:00.182Z,1628808840.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 341.627511 deg, deltaT: 4.658908 s, approachRate: 0.669685 m/s, LOS rate: -0.952158 deg/s, posRepo size: 4
2021-08-12T22:54:02.593Z,1628808842.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:02.948Z,1628808842.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:02.948Z,1628808842.948 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:02.949Z,1628808842.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:02.950Z,1628808842.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:03.377Z,1628808843.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,005C8,186,80,80,87,FF
2021-08-12T22:54:03.377Z,1628808843.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:03.377Z,1628808843.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:03.379Z,1628808843.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:03.762Z,1628808843.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:04.159Z,1628808844.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,005FC,186,80,80,8C,FF
2021-08-12T22:54:04.159Z,1628808844.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:04.597Z,1628808844.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225404.90*52

2021-08-12T22:54:04.670Z,1628808844.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.419998 m, bearing: 339.776394 deg, deltaT: 4.461412 s, approachRate: 0.699331 m/s, LOS rate: -0.414917 deg/s, posRepo size: 4
2021-08-12T22:54:07.073Z,1628808847.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:07.393Z,1628808847.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:07.393Z,1628808847.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:07.393Z,1628808847.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:07.394Z,1628808847.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:07.799Z,1628808847.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,005FC,186,80,80,8C,FF
2021-08-12T22:54:07.799Z,1628808847.799 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:07.799Z,1628808847.799 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:07.801Z,1628808847.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:08.202Z,1628808848.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:08.603Z,1628808848.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,0062E,186,80,80,88,FF
2021-08-12T22:54:08.603Z,1628808848.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:09.052Z,1628808849.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225409.33*56

2021-08-12T22:54:09.129Z,1628808849.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 334.766122 deg, deltaT: 4.514864 s, approachRate: 0.664474 m/s, LOS rate: -1.109728 deg/s, posRepo size: 4
2021-08-12T22:54:11.631Z,1628808851.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:11.866Z,1628808851.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:11.866Z,1628808851.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:11.866Z,1628808851.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:11.867Z,1628808851.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:12.269Z,1628808852.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,0062E,186,80,80,88,FF
2021-08-12T22:54:12.269Z,1628808852.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:12.269Z,1628808852.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:12.271Z,1628808852.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:12.672Z,1628808852.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:13.084Z,1628808853.084 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,0065F,186,80,80,8E,FF
2021-08-12T22:54:13.085Z,1628808853.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:13.505Z,1628808853.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225413.80*55

2021-08-12T22:54:13.588Z,1628808853.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 335.449496 deg, deltaT: 4.352035 s, approachRate: 0.675547 m/s, LOS rate: 0.157024 deg/s, posRepo size: 4
2021-08-12T22:54:15.105Z,1628808855.105 [Micromodem](INFO): Nmea in: $CAERR,225416,DATA_TIMEOUT,1*48

2021-08-12T22:54:16.094Z,1628808856.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:16.304Z,1628808856.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:16.305Z,1628808856.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:16.305Z,1628808856.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:16.307Z,1628808856.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:16.746Z,1628808856.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,0065F,186,80,80,8E,FF
2021-08-12T22:54:16.746Z,1628808856.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:16.746Z,1628808856.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:16.748Z,1628808856.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:17.124Z,1628808857.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:17.511Z,1628808857.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00696,187,80,80,A2,FF
2021-08-12T22:54:17.511Z,1628808857.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:17.954Z,1628808857.954 [Micromodem](INFO): Nmea in: $SNTTA,0.062606,,,,225418.27*49

2021-08-12T22:54:18.108Z,1628808858.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 333.521880 deg, deltaT: 4.517056 s, approachRate: 0.730564 m/s, LOS rate: -0.426742 deg/s, posRepo size: 4
2021-08-12T22:54:20.439Z,1628808860.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:20.793Z,1628808860.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:20.793Z,1628808860.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:20.793Z,1628808860.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:20.794Z,1628808860.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:21.260Z,1628808861.260 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00696,187,80,80,A2,FF
2021-08-12T22:54:21.260Z,1628808861.260 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:21.260Z,1628808861.260 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:21.262Z,1628808861.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:21.565Z,1628808861.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:21.583Z,1628808861.583 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:54:21.981Z,1628808861.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,006C9,186,80,80,87,FF
2021-08-12T22:54:21.981Z,1628808861.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:22.613Z,1628808862.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 336.351955 deg, deltaT: 4.420846 s, approachRate: 0.692176 m/s, LOS rate: 0.640166 deg/s, posRepo size: 4
2021-08-12T22:54:22.809Z,1628808862.809 [Micromodem](INFO): Nmea in: $SNTTA,0.063460,,,,225422.78*49

2021-08-12T22:54:24.594Z,1628808864.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:24.816Z,1628808864.816 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:24.816Z,1628808864.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:24.817Z,1628808864.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:24.817Z,1628808864.817 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:25.217Z,1628808865.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,006C9,186,80,80,87,FF
2021-08-12T22:54:25.217Z,1628808865.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:25.217Z,1628808865.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:25.219Z,1628808865.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:25.621Z,1628808865.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:54:26.025Z,1628808866.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,006F6,186,80,80,96,FF
2021-08-12T22:54:26.026Z,1628808866.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:26.480Z,1628808866.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 334.296669 deg, deltaT: 4.019182 s, approachRate: 0.671778 m/s, LOS rate: -0.511369 deg/s, posRepo size: 4
2021-08-12T22:54:29.053Z,1628808869.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:29.256Z,1628808869.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:29.256Z,1628808869.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:29.256Z,1628808869.256 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:29.257Z,1628808869.257 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:29.658Z,1628808869.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,006F6,186,80,80,96,FF
2021-08-12T22:54:29.658Z,1628808869.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:29.658Z,1628808869.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:29.660Z,1628808869.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:31.745Z,1628808871.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:32.498Z,1628808872.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:32.498Z,1628808872.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:32.498Z,1628808872.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:54:34.534Z,1628808874.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:34.929Z,1628808874.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:34.929Z,1628808874.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:34.929Z,1628808874.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:34.930Z,1628808874.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:35.322Z,1628808875.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:35.322Z,1628808875.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:35.323Z,1628808875.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:37.575Z,1628808877.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:38.169Z,1628808878.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:38.169Z,1628808878.169 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:38.169Z,1628808878.169 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:54:40.233Z,1628808880.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:40.590Z,1628808880.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:40.590Z,1628808880.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:40.590Z,1628808880.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:40.591Z,1628808880.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:40.997Z,1628808880.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:40.997Z,1628808880.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:40.997Z,1628808880.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:40.998Z,1628808880.998 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:43.091Z,1628808883.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:43.846Z,1628808883.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:43.846Z,1628808883.846 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:43.847Z,1628808883.847 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:54:45.883Z,1628808885.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:46.250Z,1628808886.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:46.250Z,1628808886.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:46.251Z,1628808886.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:46.252Z,1628808886.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:46.665Z,1628808886.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,96,FF
2021-08-12T22:54:46.665Z,1628808886.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:46.665Z,1628808886.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:48.273Z,1628808888.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,04AA2,186,80,80,A2,FF
2021-08-12T22:54:48.273Z,1628808888.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:54:48.779Z,1628808888.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1108.860107 m, bearing: 331.088366 deg, deltaT: 22.447270 s, approachRate: 46.305855 m/s, LOS rate: -0.142926 deg/s, posRepo size: 4
2021-08-12T22:54:48.779Z,1628808888.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1108.86 m. Resuming terminal guidance.
2021-08-12T22:54:48.780Z,1628808888.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T22:54:49.925Z,1628808889.925 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:54:50.492Z,1628808890.492 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400
2021-08-12T22:54:51.366Z,1628808891.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:51.700Z,1628808891.700 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:51.700Z,1628808891.700 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:51.700Z,1628808891.700 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:51.701Z,1628808891.701 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:52.105Z,1628808892.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,04AA2,186,80,80,A2,FF
2021-08-12T22:54:52.105Z,1628808892.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:52.106Z,1628808892.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:52.107Z,1628808892.107 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:54:53.726Z,1628808893.726 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-12T22:54:53.726Z,1628808893.726 [Micromodem] Hardware Fault, FailCount= 1
2021-08-12T22:54:53.726Z,1628808893.726 [Micromodem](ERROR): Hardware Fault
2021-08-12T22:54:53.849Z,1628808893.849 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-12T22:54:54.125Z,1628808894.125 [Micromodem](INFO): Powering down
2021-08-12T22:54:54.258Z,1628808894.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:54.941Z,1628808894.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:54:54.941Z,1628808894.941 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:54:54.942Z,1628808894.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:54:55.096Z,1628808895.096 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-12T22:54:55.096Z,1628808895.096 [Micromodem] No Fault, FailCount= 1
2021-08-12T22:54:56.985Z,1628808896.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:54:57.393Z,1628808897.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:54:57.393Z,1628808897.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:54:57.393Z,1628808897.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:54:57.394Z,1628808897.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:54:57.768Z,1628808897.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:54:57.768Z,1628808897.768 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:54:57.768Z,1628808897.768 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:54:57.769Z,1628808897.769 [Micromodem](INFO): Powering up
2021-08-12T22:54:57.769Z,1628808897.769 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-12T22:54:59.822Z,1628808899.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:01.525Z,1628808901.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:01.526Z,1628808901.526 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:01.526Z,1628808901.526 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:55:02.406Z,1628808902.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:02.734Z,1628808902.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:02.734Z,1628808902.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:02.735Z,1628808902.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:02.736Z,1628808902.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:03.151Z,1628808903.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:03.151Z,1628808903.151 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:03.151Z,1628808903.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:03.153Z,1628808903.153 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:03.389Z,1628808903.389 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-12T22:55:03.389Z,1628808903.389 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-12T22:55:03.389Z,1628808903.389 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-12T22:55:03.552Z,1628808903.552 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-12T22:55:03.696Z,1628808903.696 [RDI_Pathfinder](INFO): Powering down
2021-08-12T22:55:04.588Z,1628808904.588 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-12T22:55:04.588Z,1628808904.588 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-12T22:55:05.254Z,1628808905.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:05.641Z,1628808905.641 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:55:05.293968Z,RTC,RTC*50

2021-08-12T22:55:05.641Z,1628808905.641 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-12T22:55:05.293968Z,RTC,RTC*50

2021-08-12T22:55:06.025Z,1628808906.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:06.025Z,1628808906.025 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:06.025Z,1628808906.025 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:55:07.822Z,1628808907.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:08.046Z,1628808908.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:08.046Z,1628808908.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:08.046Z,1628808908.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:08.064Z,1628808908.064 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:08.457Z,1628808908.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:08.457Z,1628808908.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:08.457Z,1628808908.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:10.533Z,1628808910.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:13.357Z,1628808913.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:14.124Z,1628808914.124 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.076367
2021-08-12T22:55:14.506Z,1628808914.506 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:14.920Z,1628808914.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:14.940Z,1628808914.940 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:55:15.341Z,1628808915.341 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:55:15.342Z,1628808915.342 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-12T22:55:15.749Z,1628808915.749 [Micromodem](INFO): Nmea in: $CADRQ,225516,1,10,0,64,1*71

2021-08-12T22:55:15.750Z,1628808915.750 [Micromodem](ERROR): CFG response from modem unexpected: $CADRQ,225516,1,10,0,64,1*71

2021-08-12T22:55:16.130Z,1628808916.130 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-12T22:55:16.130Z,1628808916.130 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-12T22:55:16.354Z,1628808916.354 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:55:16.382Z,1628808916.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:16.557Z,1628808916.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:16.557Z,1628808916.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:16.557Z,1628808916.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:16.558Z,1628808916.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:16.565Z,1628808916.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225516.03*5A

2021-08-12T22:55:16.566Z,1628808916.566 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,225516.03*5A

2021-08-12T22:55:16.953Z,1628808916.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:16.953Z,1628808916.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:16.953Z,1628808916.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:17.766Z,1628808917.766 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-12T22:55:17.767Z,1628808917.767 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-12T22:55:18.162Z,1628808918.162 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-12T22:55:18.162Z,1628808918.162 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-12T22:55:18.571Z,1628808918.571 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-12T22:55:18.571Z,1628808918.571 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-12T22:55:19.006Z,1628808919.006 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-12T22:55:19.006Z,1628808919.006 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-12T22:55:19.067Z,1628808919.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:19.407Z,1628808919.407 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-12T22:55:19.418Z,1628808919.418 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-12T22:55:19.797Z,1628808919.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:19.797Z,1628808919.797 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:19.797Z,1628808919.797 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:55:19.799Z,1628808919.799 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-12T22:55:19.799Z,1628808919.799 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-12T22:55:20.186Z,1628808920.186 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-12T22:55:20.187Z,1628808920.187 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,12,22,55,21*4D

2021-08-12T22:55:20.603Z,1628808920.603 [Micromodem](INFO): Nmea in: $CACLK,2021,8,12,22,55,21*7F

2021-08-12T22:55:21.007Z,1628808921.007 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-12T22:55:22Z*7C

2021-08-12T22:55:21.399Z,1628808921.399 [Micromodem](INFO): Nmea in: $CATMG,2021-08-12T22:55:22.028577Z,USER_CMD,RTC*14

2021-08-12T22:55:21.850Z,1628808921.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:22.201Z,1628808922.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:22.201Z,1628808922.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:22.201Z,1628808922.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:22.202Z,1628808922.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:22.609Z,1628808922.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,A2,FF
2021-08-12T22:55:22.609Z,1628808922.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:22.609Z,1628808922.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:22.611Z,1628808922.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:23.148Z,1628808923.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:23.553Z,1628808923.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00999,186,80,80,8F,FF
2021-08-12T22:55:23.553Z,1628808923.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:55:23.965Z,1628808923.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225524.13*5A

2021-08-12T22:55:24.022Z,1628808924.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 336.141340 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T22:55:24.023Z,1628808924.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 336.141340deg and heading rate command to 0 deg/s.
2021-08-12T22:55:26.465Z,1628808926.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:26.789Z,1628808926.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:26.789Z,1628808926.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:26.790Z,1628808926.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:26.791Z,1628808926.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:27.257Z,1628808927.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00999,186,80,80,8F,FF
2021-08-12T22:55:27.257Z,1628808927.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:27.257Z,1628808927.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:27.259Z,1628808927.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:27.661Z,1628808927.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:28.065Z,1628808928.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,009D3,186,80,80,A0,FF
2021-08-12T22:55:28.065Z,1628808928.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:55:28.494Z,1628808928.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225528.78*5B

2021-08-12T22:55:28.565Z,1628808928.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.399994 m, bearing: 342.552101 deg, deltaT: 4.497918 s, approachRate: 0.773690 m/s, LOS rate: 1.425273 deg/s, posRepo size: 2
2021-08-12T22:55:28.567Z,1628808928.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.399994 m,
      bearing: 342.552101 deg,
      approachRate: 0.773690 m/s,
      LOS rate: 1.425273 deg/s,
      cmd update: 4.275819 deg/s,
      cmd heading: 336.141340 deg,
      new cmd heading: 336.141340 deg.

2021-08-12T22:55:30.987Z,1628808930.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:31.299Z,1628808931.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:31.299Z,1628808931.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:31.299Z,1628808931.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:31.300Z,1628808931.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:31.705Z,1628808931.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,009D3,186,80,80,A0,FF
2021-08-12T22:55:31.705Z,1628808931.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:31.705Z,1628808931.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:31.707Z,1628808931.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:32.097Z,1628808932.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:32.514Z,1628808932.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00A03,187,80,80,86,FF
2021-08-12T22:55:32.515Z,1628808932.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:55:32.957Z,1628808932.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225533.23*5F

2021-08-12T22:55:33.033Z,1628808933.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.279999 m, bearing: 310.345628 deg, deltaT: 4.427350 s, approachRate: 0.650503 m/s, LOS rate: -7.274436 deg/s, posRepo size: 3
2021-08-12T22:55:33.035Z,1628808933.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.279999 m,
      bearing: 310.345628 deg,
      approachRate: 0.650503 m/s,
      LOS rate: -7.274436 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.071373 deg,
      new cmd heading: 357.049136 deg.

2021-08-12T22:55:35.536Z,1628808935.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:35.749Z,1628808935.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:35.749Z,1628808935.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:35.749Z,1628808935.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:35.750Z,1628808935.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:36.157Z,1628808936.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00A03,187,80,80,86,FF
2021-08-12T22:55:36.158Z,1628808936.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:36.158Z,1628808936.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:36.159Z,1628808936.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:36.558Z,1628808936.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:36.981Z,1628808936.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00A34,187,80,80,48,FF
2021-08-12T22:55:36.981Z,1628808936.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:55:37.389Z,1628808937.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225537.68*54

2021-08-12T22:55:37.414Z,1628808937.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 352.108355 deg, deltaT: 4.491531 s, approachRate: 0.654566 m/s, LOS rate: 9.298105 deg/s, posRepo size: 4
2021-08-12T22:55:37.416Z,1628808937.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.220001 m,
      bearing: 352.108355 deg,
      approachRate: 0.654566 m/s,
      LOS rate: 9.298105 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.221036 deg,
      new cmd heading: 296.896020 deg.

2021-08-12T22:55:39.950Z,1628808939.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:40.178Z,1628808940.178 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:40.178Z,1628808940.178 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:40.178Z,1628808940.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:40.179Z,1628808940.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:40.579Z,1628808940.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00A34,187,80,80,48,FF
2021-08-12T22:55:40.579Z,1628808940.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:40.579Z,1628808940.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:40.582Z,1628808940.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:40.994Z,1628808940.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:41.398Z,1628808941.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00A63,186,80,80,88,FF
2021-08-12T22:55:41.398Z,1628808941.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:55:41.833Z,1628808941.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225542.10*59

2021-08-12T22:55:41.999Z,1628808941.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.040009 m, bearing: 350.545088 deg, deltaT: 4.418350 s, approachRate: 0.638249 m/s, LOS rate: -0.353812 deg/s, posRepo size: 4
2021-08-12T22:55:42.001Z,1628808942.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 350.545088 deg,
      approachRate: 0.638249 m/s,
      LOS rate: -0.353812 deg/s,
      cmd update: -1.061437 deg/s,
      cmd heading: 354.286406 deg,
      new cmd heading: 0.567890 deg.

2021-08-12T22:55:44.246Z,1628808944.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:44.617Z,1628808944.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:44.617Z,1628808944.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:44.617Z,1628808944.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:44.618Z,1628808944.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:45.033Z,1628808945.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00A63,186,80,80,88,FF
2021-08-12T22:55:45.033Z,1628808945.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:45.033Z,1628808945.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:45.035Z,1628808945.035 [Micromodem](INFO): Nmea in: $CAERR,225546,DATA_TIMEOUT,1*4C

2021-08-12T22:55:45.040Z,1628808945.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:45.455Z,1628808945.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:46.251Z,1628808946.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225546.56*5F

2021-08-12T22:55:47.123Z,1628808947.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:48.661Z,1628808948.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:48.661Z,1628808948.661 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:48.661Z,1628808948.661 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:55:49.897Z,1628808949.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:50.281Z,1628808950.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:50.281Z,1628808950.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:50.281Z,1628808950.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:50.282Z,1628808950.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:50.682Z,1628808950.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:50.683Z,1628808950.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:50.683Z,1628808950.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:50.685Z,1628808950.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:51.105Z,1628808951.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:51.914Z,1628808951.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225552.21*5A

2021-08-12T22:55:52.957Z,1628808952.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:54.331Z,1628808954.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:54.336Z,1628808954.336 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:54.337Z,1628808954.337 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:55:55.561Z,1628808955.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:55.933Z,1628808955.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:55:55.934Z,1628808955.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:55:55.934Z,1628808955.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:55:55.935Z,1628808955.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:55:56.337Z,1628808956.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:56.338Z,1628808956.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:55:56.338Z,1628808956.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:55:56.345Z,1628808956.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:55:56.740Z,1628808956.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:55:57.573Z,1628808957.573 [Micromodem](INFO): Nmea in: $SNTTA,0.093756,,,,225557.87*43

2021-08-12T22:55:58.408Z,1628808958.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:55:59.977Z,1628808959.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:59.978Z,1628808959.978 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:55:59.978Z,1628808959.978 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:56:01.432Z,1628808961.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:01.612Z,1628808961.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:01.612Z,1628808961.612 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:01.613Z,1628808961.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:01.614Z,1628808961.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:02.001Z,1628808962.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,88,FF
2021-08-12T22:56:02.001Z,1628808962.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:02.002Z,1628808962.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:02.003Z,1628808962.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:02.409Z,1628808962.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:02.420Z,1628808962.420 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:56:02.809Z,1628808962.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00B4F,186,80,80,8F,FF
2021-08-12T22:56:02.810Z,1628808962.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:03.007Z,1628808963.007 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400
2021-08-12T22:56:03.008Z,1628808963.008 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:56:03.273Z,1628808963.273 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:56:03.303Z,1628808963.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.199997 m, bearing: 350.865342 deg, deltaT: 21.606891 s, approachRate: 0.655346 m/s, LOS rate: 0.014822 deg/s, posRepo size: 4
2021-08-12T22:56:03.350Z,1628808963.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.199997 m,
      bearing: 350.865342 deg,
      approachRate: 0.655346 m/s,
      LOS rate: 0.014822 deg/s,
      cmd update: 0.044466 deg/s,
      cmd heading: 331.351866 deg,
      new cmd heading: 331.117861 deg.

2021-08-12T22:56:03.649Z,1628808963.649 [Micromodem](INFO): Nmea in: $CADRQ,225604,1,10,0,64,1*71

2021-08-12T22:56:03.650Z,1628808963.650 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400*4E

2021-08-12T22:56:04.061Z,1628808964.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225603.52*59

2021-08-12T22:56:04.061Z,1628808964.061 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,225603.52*59

2021-08-12T22:56:05.277Z,1628808965.277 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:56:05.688Z,1628808965.688 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T22:56:05.885Z,1628808965.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:06.189Z,1628808966.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:06.189Z,1628808966.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:06.189Z,1628808966.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:06.190Z,1628808966.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:06.195Z,1628808966.195 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T22:56:06.573Z,1628808966.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00B4F,186,80,80,8F,FF
2021-08-12T22:56:06.573Z,1628808966.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:06.573Z,1628808966.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:06.576Z,1628808966.576 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,225605.190752,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-12T22:56:06.577Z,1628808966.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:06.984Z,1628808966.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:07.802Z,1628808967.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225608.10*54

2021-08-12T22:56:08.626Z,1628808968.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:10.209Z,1628808970.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-12T22:56:10.210Z,1628808970.210 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,8F,FF
2021-08-12T22:56:10.210Z,1628808970.210 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:56:11.551Z,1628808971.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:11.821Z,1628808971.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:11.821Z,1628808971.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:11.821Z,1628808971.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:11.822Z,1628808971.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:12.229Z,1628808972.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,8F,FF
2021-08-12T22:56:12.229Z,1628808972.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:12.229Z,1628808972.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:12.231Z,1628808972.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:12.648Z,1628808972.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:13.049Z,1628808973.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00BC8,186,80,80,73,FF
2021-08-12T22:56:13.050Z,1628808973.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:13.465Z,1628808973.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225613.75*5D

2021-08-12T22:56:13.529Z,1628808973.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.460007 m, bearing: 350.664644 deg, deltaT: 10.057427 s, approachRate: 0.721856 m/s, LOS rate: -0.019955 deg/s, posRepo size: 4
2021-08-12T22:56:13.531Z,1628808973.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.460007 m,
      bearing: 350.664644 deg,
      approachRate: 0.721856 m/s,
      LOS rate: -0.019955 deg/s,
      cmd update: -0.059866 deg/s,
      cmd heading: 331.798403 deg,
      new cmd heading: 331.816348 deg.

2021-08-12T22:56:15.889Z,1628808975.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:16.269Z,1628808976.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:16.269Z,1628808976.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:16.269Z,1628808976.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:16.270Z,1628808976.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:16.725Z,1628808976.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00BC8,186,80,80,73,FF
2021-08-12T22:56:16.725Z,1628808976.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:16.726Z,1628808976.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:16.727Z,1628808976.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:17.123Z,1628808977.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:17.142Z,1628808977.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:56:17.954Z,1628808977.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00BFB,186,80,80,95,FF
2021-08-12T22:56:17.955Z,1628808977.955 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:17.962Z,1628808977.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225618.28*5E

2021-08-12T22:56:18.387Z,1628808978.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 343.771617 deg, deltaT: 4.870645 s, approachRate: 0.628253 m/s, LOS rate: -1.415219 deg/s, posRepo size: 4
2021-08-12T22:56:18.390Z,1628808978.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 343.771617 deg,
      approachRate: 0.628253 m/s,
      LOS rate: -1.415219 deg/s,
      cmd update: -4.245655 deg/s,
      cmd heading: 331.507705 deg,
      new cmd heading: 331.483364 deg.

2021-08-12T22:56:20.526Z,1628808980.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:20.793Z,1628808980.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:20.793Z,1628808980.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:20.793Z,1628808980.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:20.794Z,1628808980.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:21.189Z,1628808981.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00BFB,186,80,80,95,FF
2021-08-12T22:56:21.189Z,1628808981.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:21.189Z,1628808981.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:21.191Z,1628808981.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:21.588Z,1628808981.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:22.005Z,1628808982.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00C2E,186,80,80,85,FF
2021-08-12T22:56:22.006Z,1628808982.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:22.433Z,1628808982.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225622.71*5B

2021-08-12T22:56:22.482Z,1628808982.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.580002 m, bearing: 336.807283 deg, deltaT: 4.097733 s, approachRate: 0.746754 m/s, LOS rate: -1.699558 deg/s, posRepo size: 4
2021-08-12T22:56:22.488Z,1628808982.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.580002 m,
      bearing: 336.807283 deg,
      approachRate: 0.746754 m/s,
      LOS rate: -1.699558 deg/s,
      cmd update: -5.098673 deg/s,
      cmd heading: 314.027837 deg,
      new cmd heading: 312.396520 deg.

2021-08-12T22:56:24.906Z,1628808984.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:25.238Z,1628808985.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:25.238Z,1628808985.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:25.238Z,1628808985.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:25.239Z,1628808985.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:25.729Z,1628808985.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00C2E,186,80,80,85,FF
2021-08-12T22:56:25.729Z,1628808985.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:25.729Z,1628808985.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:25.731Z,1628808985.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:26.125Z,1628808986.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:26.536Z,1628808986.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00C62,189,80,80,85,FF
2021-08-12T22:56:26.537Z,1628808986.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:26.990Z,1628808986.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225627.25*5F

2021-08-12T22:56:27.049Z,1628808987.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.699997 m, bearing: 280.903387 deg, deltaT: 4.492477 s, approachRate: 0.694493 m/s, LOS rate: -12.443892 deg/s, posRepo size: 4
2021-08-12T22:56:27.050Z,1628808987.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.443892 deg/s. Setting heading cmd to target bearing of 280.903387deg and heading rate command to 0 deg/s.
2021-08-12T22:56:29.455Z,1628808989.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:29.761Z,1628808989.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:29.761Z,1628808989.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:29.761Z,1628808989.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:29.762Z,1628808989.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:30.166Z,1628808990.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00C62,189,80,80,85,FF
2021-08-12T22:56:30.167Z,1628808990.167 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:30.167Z,1628808990.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:30.168Z,1628808990.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:30.573Z,1628808990.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:30.982Z,1628808990.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,00C99,189,80,80,85,FF
2021-08-12T22:56:30.982Z,1628808990.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:31.431Z,1628808991.431 [Micromodem](INFO): Nmea in: $SNTTA,0.106234,,,,225631.69*4C

2021-08-12T22:56:31.487Z,1628808991.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.999985 m, bearing: 239.046075 deg, deltaT: 4.475026 s, approachRate: 0.737423 m/s, LOS rate: -9.353535 deg/s, posRepo size: 4
2021-08-12T22:56:31.494Z,1628808991.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.999985 m,
      bearing: 239.046075 deg,
      approachRate: 0.737423 m/s,
      LOS rate: -9.353535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.903387 deg,
      new cmd heading: 280.903387 deg.

2021-08-12T22:56:33.974Z,1628808993.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:34.207Z,1628808994.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:34.207Z,1628808994.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:34.207Z,1628808994.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:34.208Z,1628808994.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:34.609Z,1628808994.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44D,000,00C99,189,80,80,85,FF
2021-08-12T22:56:34.609Z,1628808994.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:34.609Z,1628808994.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:34.610Z,1628808994.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:35.020Z,1628808995.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:35.418Z,1628808995.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,387,000,00CC1,189,80,80,85,FF
2021-08-12T22:56:35.418Z,1628808995.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:35.862Z,1628808995.862 [Micromodem](INFO): Nmea in: $SNTTA,0.107826,,,,225636.13*4E

2021-08-12T22:56:35.909Z,1628808995.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.400009 m, bearing: 233.175883 deg, deltaT: 4.394491 s, approachRate: 0.546144 m/s, LOS rate: -1.335807 deg/s, posRepo size: 4
2021-08-12T22:56:35.913Z,1628808995.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 233.175883 deg,
      approachRate: 0.546144 m/s,
      LOS rate: -1.335807 deg/s,
      cmd update: -4.007421 deg/s,
      cmd heading: 228.384510 deg,
      new cmd heading: 222.883758 deg.

2021-08-12T22:56:38.464Z,1628808998.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:38.663Z,1628808998.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:38.663Z,1628808998.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:38.663Z,1628808998.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:38.665Z,1628808998.665 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:39.049Z,1628808999.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
387,000,00CC1,189,80,80,85,FF
2021-08-12T22:56:39.049Z,1628808999.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:39.049Z,1628808999.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:39.051Z,1628808999.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:39.480Z,1628808999.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:39.863Z,1628808999.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00CE3,189,80,80,85,FF
2021-08-12T22:56:39.864Z,1628808999.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:40.318Z,1628809000.318 [Micromodem](INFO): Nmea in: $SNTTA,0.108927,,,,225640.57*40

2021-08-12T22:56:40.539Z,1628809000.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.440002 m, bearing: 227.331618 deg, deltaT: 4.446477 s, approachRate: 0.458789 m/s, LOS rate: -1.314358 deg/s, posRepo size: 4
2021-08-12T22:56:40.541Z,1628809000.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.440002 m,
      bearing: 227.331618 deg,
      approachRate: 0.458789 m/s,
      LOS rate: -1.314358 deg/s,
      cmd update: -3.943075 deg/s,
      cmd heading: 210.511631 deg,
      new cmd heading: 207.986074 deg.

2021-08-12T22:56:42.497Z,1628809002.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:42.842Z,1628809002.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:42.843Z,1628809002.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:42.843Z,1628809002.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:42.844Z,1628809002.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:43.273Z,1628809003.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00CE3,189,80,80,85,FF
2021-08-12T22:56:43.273Z,1628809003.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:43.273Z,1628809003.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:43.275Z,1628809003.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:43.665Z,1628809003.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:44.070Z,1628809004.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,00A75,189,80,80,AC,FF
2021-08-12T22:56:44.071Z,1628809004.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:44.485Z,1628809004.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225644.80*55

2021-08-12T22:56:44.644Z,1628809004.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.119995 m, bearing: 213.311206 deg, deltaT: 4.210422 s, approachRate: -8.863721 m/s, LOS rate: -3.329930 deg/s, posRepo size: 4
2021-08-12T22:56:44.646Z,1628809004.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.119995 m,
      bearing: 213.311206 deg,
      approachRate: -8.863721 m/s,
      LOS rate: -3.329930 deg/s,
      cmd update: -9.989790 deg/s,
      cmd heading: 193.877317 deg,
      new cmd heading: 191.841847 deg.

2021-08-12T22:56:46.681Z,1628809006.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:46.989Z,1628809006.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:46.989Z,1628809006.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:46.989Z,1628809006.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:46.990Z,1628809006.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:47.397Z,1628809007.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,00A75,189,80,80,AC,FF
2021-08-12T22:56:47.397Z,1628809007.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:47.398Z,1628809007.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:47.399Z,1628809007.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:47.777Z,1628809007.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:48.579Z,1628809008.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D02,189,80,80,91,FF
2021-08-12T22:56:48.580Z,1628809008.580 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:48.586Z,1628809008.586 [Micromodem](INFO): Nmea in: $SNTTA,0.107749,,,,225648.92*48

2021-08-12T22:56:49.045Z,1628809009.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 161.046066 deg, deltaT: 4.540082 s, approachRate: 8.629802 m/s, LOS rate: -11.511937 deg/s, posRepo size: 4
2021-08-12T22:56:49.046Z,1628809009.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.511937 deg/s. Setting heading cmd to target bearing of 161.046066deg and heading rate command to 0 deg/s.
2021-08-12T22:56:51.450Z,1628809011.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:51.809Z,1628809011.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:51.809Z,1628809011.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:51.809Z,1628809011.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:51.810Z,1628809011.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:52.225Z,1628809012.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D02,189,80,80,91,FF
2021-08-12T22:56:52.225Z,1628809012.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:52.225Z,1628809012.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:52.227Z,1628809012.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:52.621Z,1628809012.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:53.037Z,1628809013.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D01,189,80,80,91,FF
2021-08-12T22:56:53.038Z,1628809013.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:53.042Z,1628809013.042 [Micromodem](INFO): Nmea in: $SNTTA,0.110647,0.271294,,,225653.75*57

2021-08-12T22:56:53.470Z,1628809013.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.239990 m, bearing: 143.976768 deg, deltaT: 4.451412 s, approachRate: -0.013482 m/s, LOS rate: -3.834580 deg/s, posRepo size: 4
2021-08-12T22:56:53.472Z,1628809013.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 143.976768 deg,
      approachRate: -0.013482 m/s,
      LOS rate: -3.834580 deg/s,
      cmd update: -11.503741 deg/s,
      cmd heading: 161.046066 deg,
      new cmd heading: 161.046066 deg.

2021-08-12T22:56:55.896Z,1628809015.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:56:56.258Z,1628809016.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:56:56.258Z,1628809016.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:56:56.259Z,1628809016.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:56:56.268Z,1628809016.268 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:56:56.665Z,1628809016.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D01,189,80,80,91,FF
2021-08-12T22:56:56.665Z,1628809016.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:56:56.665Z,1628809016.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:56:56.667Z,1628809016.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:56:57.071Z,1628809017.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:56:57.462Z,1628809017.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D01,189,80,80,91,FF
2021-08-12T22:56:57.462Z,1628809017.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:56:57.915Z,1628809017.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.239990 m, bearing: 126.638824 deg, deltaT: 4.417901 s, approachRate: 0.000000 m/s, LOS rate: -3.924475 deg/s, posRepo size: 4
2021-08-12T22:56:57.917Z,1628809017.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 126.638824 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.924475 deg/s,
      cmd update: -11.773426 deg/s,
      cmd heading: 110.226324 deg,
      new cmd heading: 105.785753 deg.

2021-08-12T22:57:00.399Z,1628809020.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:00.697Z,1628809020.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:00.697Z,1628809020.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:00.697Z,1628809020.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:00.698Z,1628809020.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:01.110Z,1628809021.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D01,189,80,80,91,FF
2021-08-12T22:57:01.110Z,1628809021.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:01.111Z,1628809021.111 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:01.113Z,1628809021.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:01.513Z,1628809021.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:01.915Z,1628809021.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,00C01,189,80,80,91,FF
2021-08-12T22:57:01.915Z,1628809021.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:02.351Z,1628809022.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225702.64*5C

2021-08-12T22:57:02.393Z,1628809022.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.880005 m, bearing: 126.075935 deg, deltaT: 4.442477 s, approachRate: -3.457527 m/s, LOS rate: -0.126706 deg/s, posRepo size: 4
2021-08-12T22:57:02.395Z,1628809022.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 126.075935 deg,
      approachRate: -3.457527 m/s,
      LOS rate: -0.126706 deg/s,
      cmd update: -0.380119 deg/s,
      cmd heading: 57.889619 deg,
      new cmd heading: 52.951197 deg.

2021-08-12T22:57:04.792Z,1628809024.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:05.150Z,1628809025.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:05.150Z,1628809025.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:05.151Z,1628809025.151 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:05.152Z,1628809025.152 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:05.573Z,1628809025.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,00C01,189,80,80,91,FF
2021-08-12T22:57:05.573Z,1628809025.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:05.573Z,1628809025.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:05.575Z,1628809025.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:05.977Z,1628809025.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:06.405Z,1628809026.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00CB3,188,80,80,AF,FF
2021-08-12T22:57:06.406Z,1628809026.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:06.781Z,1628809026.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225707.10*5A

2021-08-12T22:57:06.843Z,1628809026.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 121.523504 deg, deltaT: 4.459257 s, approachRate: 2.395020 m/s, LOS rate: -1.020894 deg/s, posRepo size: 4
2021-08-12T22:57:06.850Z,1628809026.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 121.523504 deg,
      approachRate: 2.395020 m/s,
      LOS rate: -1.020894 deg/s,
      cmd update: -3.062683 deg/s,
      cmd heading: 56.192459 deg,
      new cmd heading: 56.039160 deg.

2021-08-12T22:57:08.421Z,1628809028.421 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T22:57:08.978Z,1628809028.978 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400
2021-08-12T22:57:08.978Z,1628809028.978 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:57:09.051Z,1628809029.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:09.189Z,1628809029.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:09.189Z,1628809029.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:09.189Z,1628809029.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:09.190Z,1628809029.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:09.198Z,1628809029.198 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:57:09.593Z,1628809029.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00CB3,188,80,80,AF,FF
2021-08-12T22:57:09.593Z,1628809029.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:09.593Z,1628809029.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:09.595Z,1628809029.595 [Micromodem](INFO): Nmea in: $CADRQ,225710,1,10,0,64,1*75

2021-08-12T22:57:09.595Z,1628809029.595 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15610D0000005D00000400260000000000000000151D80030C5669C08C799846D2750174643CCF563C09687627752A13E948ADDC48085D81A400*4E

2021-08-12T22:57:10.011Z,1628809030.011 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T22:57:10.011Z,1628809030.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:10.398Z,1628809030.398 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T22:57:10.398Z,1628809030.398 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-12T22:57:11.630Z,1628809031.630 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T22:57:11.630Z,1628809031.630 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-12T22:57:11.721Z,1628809031.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:12.019Z,1628809032.019 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,225711.136434,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-12T22:57:12.019Z,1628809032.019 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,225711.136434,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-12T22:57:13.675Z,1628809033.675 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T22:57:13.685Z,1628809033.685 [Micromodem](INFO): Sent 52 bytes from file Logs/20210812T221831/Courier0013.lzma.parts
2021-08-12T22:57:13.685Z,1628809033.685 [Micromodem](INFO): Packets left to send: 0
2021-08-12T22:57:14.042Z,1628809034.042 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812225714.143648,06,32767,45,0164,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,18.9,10.37,19,-7.37,-01,-0.83,47,14500,4000*75

2021-08-12T22:57:14.042Z,1628809034.042 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812225714.143648,06,32767,45,0164,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,18.9,10.37,19,-7.37,-01,-0.83,47,14500,4000*75

2021-08-12T22:57:14.199Z,1628809034.199 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 379E1561100001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-12T22:57:14.199Z,1628809034.199 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-12T22:57:14.203Z,1628809034.203 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B7073C38B58800F192ABF7BC5DF422F87A98D4165CC24D61C7291054EDFA0946EE6010BB001
2021-08-12T22:57:14.482Z,1628809034.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:15.264Z,1628809035.264 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073882
2021-08-12T22:57:17.349Z,1628809037.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:17.673Z,1628809037.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:17.673Z,1628809037.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:17.673Z,1628809037.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:17.674Z,1628809037.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:18.081Z,1628809038.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00CB3,188,80,80,AF,FF
2021-08-12T22:57:18.081Z,1628809038.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:18.081Z,1628809038.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:20.125Z,1628809040.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:21.318Z,1628809041.318 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:21.726Z,1628809041.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:21.740Z,1628809041.740 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-12T22:57:22.125Z,1628809042.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,00C1F,18A,80,80,BF,FF
2021-08-12T22:57:22.126Z,1628809042.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:22.129Z,1628809042.129 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-12T22:57:22.565Z,1628809042.565 [Micromodem](INFO): Nmea in: $CADRQ,225723,1,10,0,64,1*75

2021-08-12T22:57:22.566Z,1628809042.566 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E1561100001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*3C

2021-08-12T22:57:22.690Z,1628809042.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.679993 m, bearing: 128.571590 deg, deltaT: 15.750501 s, approachRate: -0.563793 m/s, LOS rate: 0.447483 deg/s, posRepo size: 4
2021-08-12T22:57:22.691Z,1628809042.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.679993 m,
      bearing: 128.571590 deg,
      approachRate: -0.563793 m/s,
      LOS rate: 0.447483 deg/s,
      cmd update: 1.342450 deg/s,
      cmd heading: 7.978819 deg,
      new cmd heading: 6.421375 deg.

2021-08-12T22:57:22.980Z,1628809042.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225722.84*50

2021-08-12T22:57:22.980Z,1628809042.980 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,225722.84*50

2021-08-12T22:57:24.153Z,1628809044.153 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-12T22:57:24.561Z,1628809044.561 [Micromodem](INFO): Nmea in: $CADRQ,225724,1,10,0,64,2*71

2021-08-12T22:57:24.561Z,1628809044.561 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-12T22:57:24.730Z,1628809044.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:24.972Z,1628809044.972 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:24.972Z,1628809044.972 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:24.973Z,1628809044.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:24.974Z,1628809044.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:24.981Z,1628809044.981 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-12T22:57:25.362Z,1628809045.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,00C1F,18A,80,80,BF,FF
2021-08-12T22:57:25.362Z,1628809045.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:25.362Z,1628809045.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:25.364Z,1628809045.364 [Micromodem](INFO): Nmea in: $CADRQ,225726,1,10,0,64,3*72

2021-08-12T22:57:25.365Z,1628809045.365 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B7073C38B58800F192ABF7BC5DF422F87A98D4165CC24D61C7291054EDFA0946EE6010BB001*3A

2021-08-12T22:57:25.754Z,1628809045.754 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-12T22:57:25.754Z,1628809045.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:26.158Z,1628809046.158 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-12T22:57:26.158Z,1628809046.158 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-12T22:57:27.429Z,1628809047.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:29.810Z,1628809049.810 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-12T22:57:29.810Z,1628809049.810 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-12T22:57:30.199Z,1628809050.199 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,225726.934611,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-12T22:57:30.199Z,1628809050.199 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,225726.934611,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*60

2021-08-12T22:57:30.245Z,1628809050.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:31.016Z,1628809051.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.042456
2021-08-12T22:57:33.071Z,1628809053.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:33.429Z,1628809053.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:33.429Z,1628809053.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:33.429Z,1628809053.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:33.430Z,1628809053.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:33.439Z,1628809053.439 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T22:57:33.841Z,1628809053.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,00C1F,18A,80,80,BF,FF
2021-08-12T22:57:33.842Z,1628809053.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:33.842Z,1628809053.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:33.845Z,1628809053.845 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-12T22:57:34.238Z,1628809054.238 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-12T22:57:34.239Z,1628809054.239 [Micromodem](INFO): Sent 184 bytes from file Logs/20210812T221831/Courier0016.lzma.parts
2021-08-12T22:57:34.240Z,1628809054.240 [Micromodem](INFO): Packets left to send: 1
2021-08-12T22:57:34.646Z,1628809054.646 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812225733.703582,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.5,12.09,20,-9.09,-01,0.01,35,14500,4000*55

2021-08-12T22:57:34.646Z,1628809054.646 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812225733.703582,06,32767,45,0105,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.5,12.09,20,-9.09,-01,0.01,35,14500,4000*55

2021-08-12T22:57:34.790Z,1628809054.790 [Micromodem](INFO): Using rate 1 for 10 bytes.
2021-08-12T22:57:34.791Z,1628809054.791 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 379E15611000000077C0
2021-08-12T22:57:36.034Z,1628809056.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:37.070Z,1628809057.070 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:37.483Z,1628809057.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:37.496Z,1628809057.496 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:57:37.881Z,1628809057.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00BD8,185,80,80,BB,FF
2021-08-12T22:57:37.881Z,1628809057.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:37.884Z,1628809057.884 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:57:38.321Z,1628809058.321 [Micromodem](INFO): Nmea in: $CADRQ,225738,1,10,0,64,1*7F

2021-08-12T22:57:38.322Z,1628809058.322 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-12T22:57:38.324Z,1628809058.324 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,379E15611000000077C0*40

2021-08-12T22:57:38.498Z,1628809058.498 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-08-12T22:57:38.499Z,1628809058.499 [Micromodem](INFO): Outgoing frame #1, 10 bytes: 379E15611000000077C0
2021-08-12T22:57:38.558Z,1628809058.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.419998 m, bearing: 66.200400 deg, deltaT: 15.877035 s, approachRate: -0.268312 m/s, LOS rate: -3.928390 deg/s, posRepo size: 4
2021-08-12T22:57:38.562Z,1628809058.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.419998 m,
      bearing: 66.200400 deg,
      approachRate: -0.268312 m/s,
      LOS rate: -3.928390 deg/s,
      cmd update: -11.785170 deg/s,
      cmd heading: 29.303860 deg,
      new cmd heading: 29.962144 deg.

2021-08-12T22:57:38.749Z,1628809058.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225738.59*5B

2021-08-12T22:57:38.749Z,1628809058.749 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,225738.59*5B

2021-08-12T22:57:39.949Z,1628809059.949 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A

2021-08-12T22:57:39.949Z,1628809059.949 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:57:40.373Z,1628809060.373 [Micromodem](INFO): Nmea in: $CATXP,10*73

2021-08-12T22:57:40.373Z,1628809060.373 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2021-08-12T22:57:40.738Z,1628809060.738 [Micromodem](INFO): Nmea in: $CATXF,10*65

2021-08-12T22:57:40.738Z,1628809060.738 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2021-08-12T22:57:40.756Z,1628809060.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:41.160Z,1628809061.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:41.160Z,1628809061.160 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:41.160Z,1628809061.160 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:41.162Z,1628809061.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:41.277Z,1628809061.277 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,225739.811294,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*5A

2021-08-12T22:57:41.277Z,1628809061.277 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,225739.811294,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*5A

2021-08-12T22:57:41.557Z,1628809061.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00BD8,185,80,80,BB,FF
2021-08-12T22:57:41.557Z,1628809061.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:41.557Z,1628809061.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:42.390Z,1628809062.390 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T22:57:42.391Z,1628809062.391 [Micromodem](INFO): Sent 2 bytes from file Logs/20210812T221831/Courier0016.lzma.parts
2021-08-12T22:57:42.391Z,1628809062.391 [Micromodem](INFO): Packets left to send: 0
2021-08-12T22:57:42.934Z,1628809062.934 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812225742.751672,06,32767,45,0157,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,12.4,6.71,15,-3.71,-01,-0.06,49,14500,4000*4A

2021-08-12T22:57:42.934Z,1628809062.934 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812225742.751672,06,32767,45,0157,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,12.4,6.71,15,-3.71,-01,-0.06,49,14500,4000*4A

2021-08-12T22:57:43.109Z,1628809063.109 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T22:57:43.109Z,1628809063.109 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T22:57:43.109Z,1628809063.109 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T22:57:43.109Z,1628809063.109 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T22:57:43.109Z,1628809063.109 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T22:57:43.354Z,1628809063.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:45.717Z,1628809065.717 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T22:57:46.156Z,1628809066.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:47.356Z,1628809067.356 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.194590
2021-08-12T22:57:49.021Z,1628809069.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:49.365Z,1628809069.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:49.365Z,1628809069.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:49.365Z,1628809069.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:49.366Z,1628809069.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:49.753Z,1628809069.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00BD8,185,80,80,BB,FF
2021-08-12T22:57:49.753Z,1628809069.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:49.754Z,1628809069.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:50.973Z,1628809070.973 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-12T22:57:51.398Z,1628809071.398 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T22:57:51.399Z,1628809071.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:51.405Z,1628809071.405 [Micromodem](INFO): Nmea in: $CADRQ,225752,1,10,0,64,1*73

2021-08-12T22:57:51.406Z,1628809071.406 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,225752,1,10,0,64,1*73

2021-08-12T22:57:51.564Z,1628809071.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:51.772Z,1628809071.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:52.181Z,1628809072.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,00BD8,185,80,80,BB,FF
2021-08-12T22:57:52.182Z,1628809072.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:52.609Z,1628809072.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225752.92*50

2021-08-12T22:57:52.679Z,1628809072.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.419998 m, bearing: 34.232789 deg, deltaT: 14.139185 s, approachRate: 0.000000 m/s, LOS rate: -2.260923 deg/s, posRepo size: 4
2021-08-12T22:57:52.681Z,1628809072.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.419998 m,
      bearing: 34.232789 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.260923 deg/s,
      cmd update: -6.782770 deg/s,
      cmd heading: 222.694065 deg,
      new cmd heading: 217.089497 deg.

2021-08-12T22:57:55.064Z,1628809075.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:55.414Z,1628809075.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:55.414Z,1628809075.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:55.414Z,1628809075.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:55.415Z,1628809075.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:57:55.824Z,1628809075.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D24,000,00BD8,185,80,80,BB,FF
2021-08-12T22:57:55.824Z,1628809075.824 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:57:55.825Z,1628809075.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:57:55.826Z,1628809075.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:57:56.228Z,1628809076.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:57:56.634Z,1628809076.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00C47,187,80,80,9B,FF
2021-08-12T22:57:56.634Z,1628809076.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:57:57.057Z,1628809077.057 [Micromodem](INFO): Nmea in: $SNTTA,0.121759,,,,225757.35*4F

2021-08-12T22:57:57.108Z,1628809077.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.079987 m, bearing: 350.634509 deg, deltaT: 4.480902 s, approachRate: 1.486305 m/s, LOS rate: -9.729802 deg/s, posRepo size: 4
2021-08-12T22:57:57.110Z,1628809077.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 350.634509 deg,
      approachRate: 1.486305 m/s,
      LOS rate: -9.729802 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.287505 deg,
      new cmd heading: 189.426906 deg.

2021-08-12T22:57:59.473Z,1628809079.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:57:59.864Z,1628809079.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:57:59.865Z,1628809079.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:57:59.865Z,1628809079.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:57:59.866Z,1628809079.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:00.269Z,1628809080.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00C47,187,80,80,9B,FF
2021-08-12T22:58:00.269Z,1628809080.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:00.269Z,1628809080.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:00.271Z,1628809080.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:00.678Z,1628809080.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:01.486Z,1628809081.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225801.79*5C

2021-08-12T22:58:02.277Z,1628809082.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A1,000,0431A,186,80,80,6E,FF
2021-08-12T22:58:02.278Z,1628809082.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:02.721Z,1628809082.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 993.180054 m, bearing: 310.291642 deg, deltaT: 5.659148 s, approachRate: 148.803329 m/s, LOS rate: -7.128788 deg/s, posRepo size: 4
2021-08-12T22:58:02.723Z,1628809082.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 993.180054 m,
      bearing: 310.291642 deg,
      approachRate: 148.803329 m/s,
      LOS rate: -7.128788 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.941476 deg,
      new cmd heading: 119.870456 deg.

2021-08-12T22:58:05.147Z,1628809085.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:05.509Z,1628809085.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:05.509Z,1628809085.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:05.509Z,1628809085.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:05.510Z,1628809085.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:05.910Z,1628809085.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A1,000,0431A,186,80,80,6E,FF
2021-08-12T22:58:05.910Z,1628809085.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:05.911Z,1628809085.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:05.913Z,1628809085.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:06.361Z,1628809086.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:06.729Z,1628809086.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,00CB3,189,80,80,6E,FF
2021-08-12T22:58:06.730Z,1628809086.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:07.161Z,1628809087.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225807.43*53

2021-08-12T22:58:07.200Z,1628809087.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 279.484866 deg, deltaT: 4.436356 s, approachRate: -188.357300 m/s, LOS rate: -6.944162 deg/s, posRepo size: 4
2021-08-12T22:58:07.202Z,1628809087.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 279.484866 deg,
      approachRate: -188.357300 m/s,
      LOS rate: -6.944162 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 71.191686 deg,
      new cmd heading: 66.122562 deg.

2021-08-12T22:58:09.585Z,1628809089.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:09.953Z,1628809089.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:09.953Z,1628809089.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:09.953Z,1628809089.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:09.954Z,1628809089.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:10.401Z,1628809090.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,00CB3,189,80,80,6E,FF
2021-08-12T22:58:10.401Z,1628809090.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:10.401Z,1628809090.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:10.403Z,1628809090.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:10.773Z,1628809090.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:11.191Z,1628809091.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00CB3,189,80,80,6E,FF
2021-08-12T22:58:11.191Z,1628809091.191 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:11.591Z,1628809091.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225811.92*58

2021-08-12T22:58:11.641Z,1628809091.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 350.051894 deg, deltaT: 4.482358 s, approachRate: 0.000000 m/s, LOS rate: 15.743282 deg/s, posRepo size: 4
2021-08-12T22:58:11.642Z,1628809091.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.743282 deg/s. Setting heading cmd to target bearing of 350.051894deg and heading rate command to 0 deg/s.
2021-08-12T22:58:13.994Z,1628809093.994 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T22:58:14.042Z,1628809094.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:14.402Z,1628809094.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:14.402Z,1628809094.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:14.403Z,1628809094.403 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:14.403Z,1628809094.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:14.797Z,1628809094.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00CB3,189,80,80,6E,FF
2021-08-12T22:58:14.797Z,1628809094.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:14.798Z,1628809094.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:14.799Z,1628809094.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:15.217Z,1628809095.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:16.038Z,1628809096.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225816.32*55

2021-08-12T22:58:16.925Z,1628809096.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:18.449Z,1628809098.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,6E,FF
2021-08-12T22:58:18.449Z,1628809098.449 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,6E,FF
2021-08-12T22:58:18.450Z,1628809098.450 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T22:58:19.694Z,1628809099.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:20.062Z,1628809100.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:20.062Z,1628809100.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:20.063Z,1628809100.063 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:20.063Z,1628809100.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:20.465Z,1628809100.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,6E,FF
2021-08-12T22:58:20.465Z,1628809100.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:20.465Z,1628809100.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:20.467Z,1628809100.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:20.989Z,1628809100.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:21.423Z,1628809101.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,00D49,186,80,80,76,FF
2021-08-12T22:58:21.423Z,1628809101.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:21.426Z,1628809101.426 [Micromodem](INFO): Nmea in: $CAERR,225822,DATA_TIMEOUT,1*43

2021-08-12T22:58:21.880Z,1628809101.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225821.99*50

2021-08-12T22:58:21.899Z,1628809101.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.560013 m, bearing: 12.692206 deg, deltaT: 10.413065 s, approachRate: 0.864299 m/s, LOS rate: 2.174222 deg/s, posRepo size: 4
2021-08-12T22:58:21.902Z,1628809101.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.560013 m,
      bearing: 12.692206 deg,
      approachRate: 0.864299 m/s,
      LOS rate: 2.174222 deg/s,
      cmd update: 6.522667 deg/s,
      cmd heading: 350.051894 deg,
      new cmd heading: 350.051894 deg.

2021-08-12T22:58:24.330Z,1628809104.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:24.689Z,1628809104.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:24.689Z,1628809104.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:24.689Z,1628809104.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:24.690Z,1628809104.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:25.085Z,1628809105.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,00D49,186,80,80,76,FF
2021-08-12T22:58:25.085Z,1628809105.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:25.085Z,1628809105.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:25.087Z,1628809105.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:25.522Z,1628809105.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:25.927Z,1628809105.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00D72,186,80,80,8E,FF
2021-08-12T22:58:25.928Z,1628809105.928 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:26.365Z,1628809106.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225826.61*50

2021-08-12T22:58:26.400Z,1628809106.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 14.490118 deg, deltaT: 4.267032 s, approachRate: 0.576508 m/s, LOS rate: 0.421350 deg/s, posRepo size: 4
2021-08-12T22:58:26.402Z,1628809106.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 14.490118 deg,
      approachRate: 0.576508 m/s,
      LOS rate: 0.421350 deg/s,
      cmd update: 1.264049 deg/s,
      cmd heading: 18.048080 deg,
      new cmd heading: 21.020225 deg.

2021-08-12T22:58:28.767Z,1628809108.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:29.149Z,1628809109.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:29.149Z,1628809109.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:29.149Z,1628809109.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:29.150Z,1628809109.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:29.557Z,1628809109.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00D72,186,80,80,8E,FF
2021-08-12T22:58:29.557Z,1628809109.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:29.557Z,1628809109.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:29.559Z,1628809109.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:29.964Z,1628809109.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:30.385Z,1628809110.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:30.385Z,1628809110.385 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-12T22:58:30.817Z,1628809110.817 [Micromodem](INFO): Nmea in: $SNTTA,0.116286,,,,225831.08*4D

2021-08-12T22:58:31.619Z,1628809111.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:34.433Z,1628809114.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:34.817Z,1628809114.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:34.817Z,1628809114.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:34.817Z,1628809114.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:34.818Z,1628809114.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:35.213Z,1628809115.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:35.213Z,1628809115.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:35.213Z,1628809115.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:35.215Z,1628809115.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:35.644Z,1628809115.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:36.021Z,1628809116.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:36.022Z,1628809116.022 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-12T22:58:36.477Z,1628809116.477 [Micromodem](INFO): Nmea in: $SNTTA,0.117220,,,,225836.73*4B

2021-08-12T22:58:36.940Z,1628809116.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:39.690Z,1628809119.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:40.062Z,1628809120.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:40.062Z,1628809120.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:40.062Z,1628809120.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:40.063Z,1628809120.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:40.470Z,1628809120.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:40.470Z,1628809120.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:40.470Z,1628809120.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:40.472Z,1628809120.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:40.883Z,1628809120.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:41.274Z,1628809121.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:41.274Z,1628809121.274 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-12T22:58:41.717Z,1628809121.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225841.99*56

2021-08-12T22:58:42.547Z,1628809122.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:45.367Z,1628809125.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:45.717Z,1628809125.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:45.717Z,1628809125.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:45.717Z,1628809125.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:45.718Z,1628809125.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:46.133Z,1628809126.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,001EE,187,80,80,3C,FF
2021-08-12T22:58:46.134Z,1628809126.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:46.134Z,1628809126.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:46.135Z,1628809126.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:46.536Z,1628809126.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:46.966Z,1628809126.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00DCC,186,80,80,3C,FF
2021-08-12T22:58:46.966Z,1628809126.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:47.385Z,1628809127.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225847.65*53

2021-08-12T22:58:47.422Z,1628809127.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.419998 m, bearing: 68.778523 deg, deltaT: 21.101938 s, approachRate: 0.255901 m/s, LOS rate: 2.572674 deg/s, posRepo size: 4
2021-08-12T22:58:47.424Z,1628809127.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.419998 m,
      bearing: 68.778523 deg,
      approachRate: 0.255901 m/s,
      LOS rate: 2.572674 deg/s,
      cmd update: 7.718022 deg/s,
      cmd heading: 44.716918 deg,
      new cmd heading: 45.197074 deg.

2021-08-12T22:58:49.780Z,1628809129.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:50.181Z,1628809130.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:50.181Z,1628809130.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:50.181Z,1628809130.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:50.182Z,1628809130.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:50.565Z,1628809130.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00DCC,186,80,80,3C,FF
2021-08-12T22:58:50.565Z,1628809130.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:50.566Z,1628809130.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:50.567Z,1628809130.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:50.987Z,1628809130.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:51.393Z,1628809131.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00DD2,186,80,80,3C,FF
2021-08-12T22:58:51.394Z,1628809131.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:51.829Z,1628809131.829 [Micromodem](INFO): Nmea in: $SNTTA,0.393970,,,,225852.09*44

2021-08-12T22:58:51.887Z,1628809131.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.779999 m, bearing: 83.876355 deg, deltaT: 4.408729 s, approachRate: 0.081656 m/s, LOS rate: 3.424532 deg/s, posRepo size: 4
2021-08-12T22:58:51.894Z,1628809131.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.779999 m,
      bearing: 83.876355 deg,
      approachRate: 0.081656 m/s,
      LOS rate: 3.424532 deg/s,
      cmd update: 10.273595 deg/s,
      cmd heading: 78.558405 deg,
      new cmd heading: 82.061608 deg.

2021-08-12T22:58:54.245Z,1628809134.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:54.609Z,1628809134.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:54.609Z,1628809134.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:54.609Z,1628809134.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:54.610Z,1628809134.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:55.013Z,1628809135.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,00DD2,186,80,80,3C,FF
2021-08-12T22:58:55.014Z,1628809135.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:55.014Z,1628809135.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:55.017Z,1628809135.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:55.421Z,1628809135.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:58:55.840Z,1628809135.840 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00DC8,186,80,80,3C,FF
2021-08-12T22:58:55.841Z,1628809135.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:58:56.258Z,1628809136.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225856.54*51

2021-08-12T22:58:56.274Z,1628809136.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.180008 m, bearing: 135.748357 deg, deltaT: 4.449841 s, approachRate: -0.134834 m/s, LOS rate: 11.657046 deg/s, posRepo size: 4
2021-08-12T22:58:56.275Z,1628809136.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.657046 deg/s. Setting heading cmd to target bearing of 135.748357deg and heading rate command to 0 deg/s.
2021-08-12T22:58:58.687Z,1628809138.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:58:59.049Z,1628809139.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:58:59.049Z,1628809139.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:58:59.049Z,1628809139.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:58:59.050Z,1628809139.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:58:59.454Z,1628809139.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00DC8,186,80,80,3C,FF
2021-08-12T22:58:59.455Z,1628809139.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:58:59.455Z,1628809139.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:58:59.457Z,1628809139.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:58:59.859Z,1628809139.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:00.262Z,1628809140.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3A,000,00DC8,186,80,80,3C,FF
2021-08-12T22:59:00.263Z,1628809140.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:00.720Z,1628809140.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225900.98*53

2021-08-12T22:59:00.756Z,1628809140.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.180008 m, bearing: 139.214459 deg, deltaT: 4.431317 s, approachRate: 0.000000 m/s, LOS rate: 0.782183 deg/s, posRepo size: 4
2021-08-12T22:59:00.758Z,1628809140.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.180008 m,
      bearing: 139.214459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.782183 deg/s,
      cmd update: 2.346550 deg/s,
      cmd heading: 135.748357 deg,
      new cmd heading: 135.748357 deg.

2021-08-12T22:59:03.182Z,1628809143.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:03.493Z,1628809143.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:03.493Z,1628809143.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:03.493Z,1628809143.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:03.494Z,1628809143.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:03.917Z,1628809143.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3A,000,00DC8,186,80,80,3C,FF
2021-08-12T22:59:03.917Z,1628809143.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:03.917Z,1628809143.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:03.919Z,1628809143.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:04.325Z,1628809144.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:04.726Z,1628809144.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,00DC8,186,80,80,3C,FF
2021-08-12T22:59:04.726Z,1628809144.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:05.149Z,1628809145.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225905.44*57

2021-08-12T22:59:05.204Z,1628809145.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.180008 m, bearing: 147.642476 deg, deltaT: 4.483033 s, approachRate: 0.000000 m/s, LOS rate: 1.879981 deg/s, posRepo size: 4
2021-08-12T22:59:05.206Z,1628809145.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.180008 m,
      bearing: 147.642476 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.879981 deg/s,
      cmd update: 5.639943 deg/s,
      cmd heading: 146.314472 deg,
      new cmd heading: 147.219511 deg.

2021-08-12T22:59:07.566Z,1628809147.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:07.948Z,1628809147.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:07.949Z,1628809147.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:07.949Z,1628809147.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:07.950Z,1628809147.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:08.354Z,1628809148.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,00DC8,186,80,80,3C,FF
2021-08-12T22:59:08.354Z,1628809148.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:08.354Z,1628809148.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:08.381Z,1628809148.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:08.749Z,1628809148.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:09.555Z,1628809149.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00D6C,186,80,80,99,FF
2021-08-12T22:59:09.556Z,1628809149.556 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:09.562Z,1628809149.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225909.90*52

2021-08-12T22:59:10.007Z,1628809150.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.660004 m, bearing: 147.002801 deg, deltaT: 4.825866 s, approachRate: -1.143837 m/s, LOS rate: -0.132551 deg/s, posRepo size: 4
2021-08-12T22:59:10.009Z,1628809150.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 147.002801 deg,
      approachRate: -1.143837 m/s,
      LOS rate: -0.132551 deg/s,
      cmd update: -0.397654 deg/s,
      cmd heading: 173.498963 deg,
      new cmd heading: 175.601116 deg.

2021-08-12T22:59:12.425Z,1628809152.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:12.781Z,1628809152.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:12.781Z,1628809152.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:12.781Z,1628809152.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:12.782Z,1628809152.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:13.197Z,1628809153.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00D6C,186,80,80,99,FF
2021-08-12T22:59:13.197Z,1628809153.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:13.197Z,1628809153.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:13.199Z,1628809153.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:13.593Z,1628809153.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:14.001Z,1628809154.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00D6C,186,80,80,99,FF
2021-08-12T22:59:14.002Z,1628809154.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:14.438Z,1628809154.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225914.72*52

2021-08-12T22:59:14.463Z,1628809154.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.660004 m, bearing: 141.968146 deg, deltaT: 4.412334 s, approachRate: 0.000000 m/s, LOS rate: -1.141041 deg/s, posRepo size: 4
2021-08-12T22:59:14.466Z,1628809154.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 141.968146 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.141041 deg/s,
      cmd update: -3.423124 deg/s,
      cmd heading: 171.743520 deg,
      new cmd heading: 171.578726 deg.

2021-08-12T22:59:16.871Z,1628809156.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:17.229Z,1628809157.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:17.229Z,1628809157.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:17.229Z,1628809157.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:17.230Z,1628809157.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:17.629Z,1628809157.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00D6C,186,80,80,99,FF
2021-08-12T22:59:17.629Z,1628809157.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:17.630Z,1628809157.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:17.631Z,1628809157.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:18.037Z,1628809158.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:18.442Z,1628809158.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00D15,186,80,80,99,FF
2021-08-12T22:59:18.443Z,1628809158.443 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:18.900Z,1628809158.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225919.15*5E

2021-08-12T22:59:18.980Z,1628809158.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.439987 m, bearing: 135.354624 deg, deltaT: 4.445110 s, approachRate: -1.174328 m/s, LOS rate: -1.487820 deg/s, posRepo size: 4
2021-08-12T22:59:18.982Z,1628809158.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.439987 m,
      bearing: 135.354624 deg,
      approachRate: -1.174328 m/s,
      LOS rate: -1.487820 deg/s,
      cmd update: -4.463459 deg/s,
      cmd heading: 156.512358 deg,
      new cmd heading: 154.865674 deg.

2021-08-12T22:59:21.360Z,1628809161.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:21.697Z,1628809161.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:21.697Z,1628809161.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:21.697Z,1628809161.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:21.698Z,1628809161.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:22.077Z,1628809162.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00D15,186,80,80,99,FF
2021-08-12T22:59:22.077Z,1628809162.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:22.077Z,1628809162.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:22.079Z,1628809162.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:22.497Z,1628809162.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:22.924Z,1628809162.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,00CED,189,80,80,8D,FF
2021-08-12T22:59:22.925Z,1628809162.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:23.312Z,1628809163.312 [Micromodem](INFO): Nmea in: $SNTTA,0.346309,0.346434,,,225923.60*5C

2021-08-12T22:59:23.369Z,1628809163.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 132.451985 deg, deltaT: 4.562145 s, approachRate: -0.526067 m/s, LOS rate: -0.636244 deg/s, posRepo size: 4
2021-08-12T22:59:23.371Z,1628809163.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 132.451985 deg,
      approachRate: -0.526067 m/s,
      LOS rate: -0.636244 deg/s,
      cmd update: -1.908733 deg/s,
      cmd heading: 136.171848 deg,
      new cmd heading: 134.775723 deg.

2021-08-12T22:59:25.751Z,1628809165.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:26.117Z,1628809166.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:26.117Z,1628809166.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:26.117Z,1628809166.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:26.118Z,1628809166.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:26.525Z,1628809166.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,00CED,189,80,80,8D,FF
2021-08-12T22:59:26.526Z,1628809166.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:26.526Z,1628809166.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:26.527Z,1628809166.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:26.973Z,1628809166.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:27.349Z,1628809167.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00CC0,186,80,80,AA,FF
2021-08-12T22:59:27.350Z,1628809167.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:27.765Z,1628809167.765 [Micromodem](INFO): Nmea in: $SNTTA,0.105412,,,,225928.05*40

2021-08-12T22:59:27.796Z,1628809167.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 138.301850 deg, deltaT: 4.347529 s, approachRate: -0.621042 m/s, LOS rate: 1.345561 deg/s, posRepo size: 4
2021-08-12T22:59:27.798Z,1628809167.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 138.301850 deg,
      approachRate: -0.621042 m/s,
      LOS rate: 1.345561 deg/s,
      cmd update: 4.036683 deg/s,
      cmd heading: 127.864752 deg,
      new cmd heading: 127.123787 deg.

2021-08-12T22:59:30.183Z,1628809170.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:30.565Z,1628809170.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:30.565Z,1628809170.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:30.565Z,1628809170.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:30.566Z,1628809170.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:30.989Z,1628809170.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00CC0,186,80,80,AA,FF
2021-08-12T22:59:30.989Z,1628809170.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:30.989Z,1628809170.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:30.991Z,1628809170.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:31.397Z,1628809171.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:31.781Z,1628809171.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00CC0,186,80,80,AA,FF
2021-08-12T22:59:31.781Z,1628809171.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:32.195Z,1628809172.195 [Micromodem](INFO): Nmea in: $SNTTA,0.112064,,,,225932.51*49

2021-08-12T22:59:32.223Z,1628809172.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 141.164314 deg, deltaT: 4.395821 s, approachRate: 0.000000 m/s, LOS rate: 0.651178 deg/s, posRepo size: 4
2021-08-12T22:59:32.226Z,1628809172.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 141.164314 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.651178 deg/s,
      cmd update: 1.953535 deg/s,
      cmd heading: 145.621165 deg,
      new cmd heading: 147.304175 deg.

2021-08-12T22:59:34.662Z,1628809174.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:35.025Z,1628809175.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:35.025Z,1628809175.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:35.025Z,1628809175.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:35.026Z,1628809175.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:35.409Z,1628809175.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00CC0,186,80,80,AA,FF
2021-08-12T22:59:35.409Z,1628809175.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:35.409Z,1628809175.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:35.411Z,1628809175.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:35.821Z,1628809175.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:36.226Z,1628809176.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,00C61,186,80,80,99,FF
2021-08-12T22:59:36.226Z,1628809176.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:36.669Z,1628809176.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225936.93*5D

2021-08-12T22:59:36.706Z,1628809176.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.640015 m, bearing: 139.169339 deg, deltaT: 4.440264 s, approachRate: -1.283703 m/s, LOS rate: -0.449292 deg/s, posRepo size: 4
2021-08-12T22:59:36.708Z,1628809176.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.640015 m,
      bearing: 139.169339 deg,
      approachRate: -1.283703 m/s,
      LOS rate: -0.449292 deg/s,
      cmd update: -1.347876 deg/s,
      cmd heading: 154.296891 deg,
      new cmd heading: 155.192554 deg.

2021-08-12T22:59:39.093Z,1628809179.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:39.449Z,1628809179.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:39.449Z,1628809179.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:39.449Z,1628809179.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:39.450Z,1628809179.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:39.867Z,1628809179.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,00C61,186,80,80,99,FF
2021-08-12T22:59:39.867Z,1628809179.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:39.867Z,1628809179.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:39.870Z,1628809179.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:40.260Z,1628809180.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:40.690Z,1628809180.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00C31,187,80,80,78,FF
2021-08-12T22:59:40.690Z,1628809180.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:41.105Z,1628809181.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225941.39*5D

2021-08-12T22:59:41.191Z,1628809181.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.759995 m, bearing: 137.147453 deg, deltaT: 4.494125 s, approachRate: -0.640841 m/s, LOS rate: -0.449895 deg/s, posRepo size: 4
2021-08-12T22:59:41.194Z,1628809181.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.759995 m,
      bearing: 137.147453 deg,
      approachRate: -0.640841 m/s,
      LOS rate: -0.449895 deg/s,
      cmd update: -1.349686 deg/s,
      cmd heading: 148.238880 deg,
      new cmd heading: 147.633079 deg.

2021-08-12T22:59:43.525Z,1628809183.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:43.916Z,1628809183.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:43.916Z,1628809183.916 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:43.916Z,1628809183.916 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:43.917Z,1628809183.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:44.297Z,1628809184.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00C31,187,80,80,78,FF
2021-08-12T22:59:44.297Z,1628809184.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:44.297Z,1628809184.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:44.299Z,1628809184.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:44.723Z,1628809184.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:45.109Z,1628809185.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,00C01,186,80,80,94,FF
2021-08-12T22:59:45.110Z,1628809185.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:45.113Z,1628809185.113 [Micromodem](INFO): Nmea in: $SNTTA,0.238016,0.238491,,,225945.82*52

2021-08-12T22:59:45.562Z,1628809185.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.880005 m, bearing: 134.847824 deg, deltaT: 4.432733 s, approachRate: -0.649710 m/s, LOS rate: -0.518784 deg/s, posRepo size: 4
2021-08-12T22:59:45.564Z,1628809185.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 134.847824 deg,
      approachRate: -0.649710 m/s,
      LOS rate: -0.518784 deg/s,
      cmd update: -1.556351 deg/s,
      cmd heading: 142.255918 deg,
      new cmd heading: 141.733066 deg.

2021-08-12T22:59:47.974Z,1628809187.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:48.344Z,1628809188.344 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:48.345Z,1628809188.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:48.346Z,1628809188.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:48.347Z,1628809188.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:48.753Z,1628809188.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,00C01,186,80,80,94,FF
2021-08-12T22:59:48.753Z,1628809188.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:48.753Z,1628809188.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:48.755Z,1628809188.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:49.164Z,1628809189.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:49.562Z,1628809189.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00BD5,186,80,80,A3,FF
2021-08-12T22:59:49.562Z,1628809189.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:49.994Z,1628809189.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225950.27*52

2021-08-12T22:59:50.015Z,1628809190.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 137.374365 deg, deltaT: 4.456429 s, approachRate: -0.592402 m/s, LOS rate: 0.566943 deg/s, posRepo size: 4
2021-08-12T22:59:50.017Z,1628809190.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.240005 m,
      bearing: 137.374365 deg,
      approachRate: -0.592402 m/s,
      LOS rate: 0.566943 deg/s,
      cmd update: 1.700829 deg/s,
      cmd heading: 135.326007 deg,
      new cmd heading: 134.722588 deg.

2021-08-12T22:59:52.436Z,1628809192.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:52.794Z,1628809192.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:52.794Z,1628809192.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:52.795Z,1628809192.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:52.795Z,1628809192.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:53.181Z,1628809193.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00BD5,186,80,80,A3,FF
2021-08-12T22:59:53.181Z,1628809193.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:53.182Z,1628809193.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:53.183Z,1628809193.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:53.595Z,1628809193.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:53.997Z,1628809193.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09A,000,00BA5,186,80,80,AC,FF
2021-08-12T22:59:53.998Z,1628809193.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:54.442Z,1628809194.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225954.70*54

2021-08-12T22:59:54.475Z,1628809194.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.360001 m, bearing: 137.540653 deg, deltaT: 4.383119 s, approachRate: -0.657067 m/s, LOS rate: 0.037938 deg/s, posRepo size: 4
2021-08-12T22:59:54.478Z,1628809194.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.360001 m,
      bearing: 137.540653 deg,
      approachRate: -0.657067 m/s,
      LOS rate: 0.037938 deg/s,
      cmd update: 0.113815 deg/s,
      cmd heading: 142.787619 deg,
      new cmd heading: 143.571502 deg.

2021-08-12T22:59:56.918Z,1628809196.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T22:59:57.229Z,1628809197.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T22:59:57.229Z,1628809197.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T22:59:57.230Z,1628809197.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T22:59:57.231Z,1628809197.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T22:59:57.629Z,1628809197.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09A,000,00BA5,186,80,80,AC,FF
2021-08-12T22:59:57.629Z,1628809197.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T22:59:57.629Z,1628809197.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T22:59:57.631Z,1628809197.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T22:59:58.036Z,1628809198.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T22:59:58.446Z,1628809198.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,00B72,185,80,80,97,FF
2021-08-12T22:59:58.447Z,1628809198.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T22:59:58.880Z,1628809198.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225959.15*5A

2021-08-12T22:59:58.950Z,1628809198.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.300003 m, bearing: 137.164241 deg, deltaT: 4.510606 s, approachRate: -0.678401 m/s, LOS rate: -0.083450 deg/s, posRepo size: 4
2021-08-12T22:59:58.952Z,1628809198.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.300003 m,
      bearing: 137.164241 deg,
      approachRate: -0.678401 m/s,
      LOS rate: -0.083450 deg/s,
      cmd update: -0.250351 deg/s,
      cmd heading: 143.300696 deg,
      new cmd heading: 143.349371 deg.

2021-08-12T23:00:01.350Z,1628809201.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:01.677Z,1628809201.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:01.677Z,1628809201.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:01.677Z,1628809201.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:01.678Z,1628809201.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:02.073Z,1628809202.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,00B72,185,80,80,97,FF
2021-08-12T23:00:02.073Z,1628809202.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:02.073Z,1628809202.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:02.075Z,1628809202.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:02.485Z,1628809202.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:02.909Z,1628809202.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,00B3B,186,80,80,9D,FF
2021-08-12T23:00:02.910Z,1628809202.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:03.329Z,1628809203.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230003.59*50

2021-08-12T23:00:03.407Z,1628809203.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 136.389671 deg, deltaT: 4.476677 s, approachRate: -0.737155 m/s, LOS rate: -0.173024 deg/s, posRepo size: 4
2021-08-12T23:00:03.413Z,1628809203.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.000000 m,
      bearing: 136.389671 deg,
      approachRate: -0.737155 m/s,
      LOS rate: -0.173024 deg/s,
      cmd update: -0.519071 deg/s,
      cmd heading: 142.182115 deg,
      new cmd heading: 142.077962 deg.

2021-08-12T23:00:05.776Z,1628809205.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:06.118Z,1628809206.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:06.119Z,1628809206.119 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:06.119Z,1628809206.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:06.121Z,1628809206.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:06.517Z,1628809206.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,00B3B,186,80,80,9D,FF
2021-08-12T23:00:06.517Z,1628809206.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:06.517Z,1628809206.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:06.519Z,1628809206.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:06.961Z,1628809206.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:07.368Z,1628809207.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00B0C,186,80,80,B2,FF
2021-08-12T23:00:07.368Z,1628809207.368 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:07.381Z,1628809207.381 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:00:07.766Z,1628809207.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230008.04*53

2021-08-12T23:00:07.782Z,1628809207.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.179993 m, bearing: 136.775590 deg, deltaT: 4.424857 s, approachRate: -0.637310 m/s, LOS rate: 0.087216 deg/s, posRepo size: 4
2021-08-12T23:00:07.784Z,1628809207.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.179993 m,
      bearing: 136.775590 deg,
      approachRate: -0.637310 m/s,
      LOS rate: 0.087216 deg/s,
      cmd update: 0.261649 deg/s,
      cmd heading: 139.883050 deg,
      new cmd heading: 139.695199 deg.

2021-08-12T23:00:10.184Z,1628809210.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:10.557Z,1628809210.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:10.557Z,1628809210.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:10.557Z,1628809210.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:10.558Z,1628809210.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:10.981Z,1628809210.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00B0C,186,80,80,B2,FF
2021-08-12T23:00:10.981Z,1628809210.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:10.981Z,1628809210.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:10.983Z,1628809210.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:11.400Z,1628809211.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:11.769Z,1628809211.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,00AD8,186,80,80,98,FF
2021-08-12T23:00:11.770Z,1628809211.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:12.201Z,1628809212.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230012.50*59

2021-08-12T23:00:12.235Z,1628809212.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.060013 m, bearing: 136.258763 deg, deltaT: 4.386226 s, approachRate: -0.711313 m/s, LOS rate: -0.117829 deg/s, posRepo size: 4
2021-08-12T23:00:12.242Z,1628809212.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 136.258763 deg,
      approachRate: -0.711313 m/s,
      LOS rate: -0.117829 deg/s,
      cmd update: -0.353488 deg/s,
      cmd heading: 141.031536 deg,
      new cmd heading: 141.143060 deg.

2021-08-12T23:00:14.637Z,1628809214.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:14.997Z,1628809214.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:14.997Z,1628809214.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:14.998Z,1628809214.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:14.998Z,1628809214.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:15.405Z,1628809215.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,00AD8,186,80,80,98,FF
2021-08-12T23:00:15.406Z,1628809215.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:15.406Z,1628809215.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:15.408Z,1628809215.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:15.813Z,1628809215.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:16.245Z,1628809216.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,00AA9,186,80,80,90,FF
2021-08-12T23:00:16.245Z,1628809216.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:16.657Z,1628809216.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230016.93*52

2021-08-12T23:00:16.683Z,1628809216.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.239998 m, bearing: 136.976889 deg, deltaT: 4.449144 s, approachRate: -0.633833 m/s, LOS rate: 0.161408 deg/s, posRepo size: 4
2021-08-12T23:00:16.685Z,1628809216.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.239998 m,
      bearing: 136.976889 deg,
      approachRate: -0.633833 m/s,
      LOS rate: 0.161408 deg/s,
      cmd update: 0.484223 deg/s,
      cmd heading: 139.457486 deg,
      new cmd heading: 139.308616 deg.

2021-08-12T23:00:19.096Z,1628809219.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:19.457Z,1628809219.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:19.457Z,1628809219.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:19.457Z,1628809219.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:19.458Z,1628809219.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:19.861Z,1628809219.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,00AA9,186,80,80,90,FF
2021-08-12T23:00:19.861Z,1628809219.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:19.861Z,1628809219.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:19.868Z,1628809219.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:20.264Z,1628809220.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:20.665Z,1628809220.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00A74,186,80,80,B5,FF
2021-08-12T23:00:20.665Z,1628809220.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:21.089Z,1628809221.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230021.39*56

2021-08-12T23:00:21.154Z,1628809221.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.060005 m, bearing: 136.918450 deg, deltaT: 4.495191 s, approachRate: -0.707421 m/s, LOS rate: -0.013000 deg/s, posRepo size: 4
2021-08-12T23:00:21.157Z,1628809221.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.060005 m,
      bearing: 136.918450 deg,
      approachRate: -0.707421 m/s,
      LOS rate: -0.013000 deg/s,
      cmd update: -0.039001 deg/s,
      cmd heading: 141.630127 deg,
      new cmd heading: 141.825292 deg.

2021-08-12T23:00:23.539Z,1628809223.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:23.905Z,1628809223.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:23.905Z,1628809223.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:23.905Z,1628809223.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:23.906Z,1628809223.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:24.305Z,1628809224.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00A74,186,80,80,B5,FF
2021-08-12T23:00:24.305Z,1628809224.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:24.305Z,1628809224.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:24.307Z,1628809224.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:24.700Z,1628809224.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:25.109Z,1628809225.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,00A48,185,80,80,AE,FF
2021-08-12T23:00:25.110Z,1628809225.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:25.545Z,1628809225.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230025.83*53

2021-08-12T23:00:25.571Z,1628809225.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.419998 m, bearing: 134.622441 deg, deltaT: 4.388817 s, approachRate: -0.601530 m/s, LOS rate: -0.523150 deg/s, posRepo size: 4
2021-08-12T23:00:25.573Z,1628809225.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.419998 m,
      bearing: 134.622441 deg,
      approachRate: -0.601530 m/s,
      LOS rate: -0.523150 deg/s,
      cmd update: -1.569450 deg/s,
      cmd heading: 141.458632 deg,
      new cmd heading: 141.442083 deg.

2021-08-12T23:00:27.947Z,1628809227.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:28.354Z,1628809228.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:28.355Z,1628809228.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:28.355Z,1628809228.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:28.360Z,1628809228.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:28.741Z,1628809228.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,00A48,185,80,80,AE,FF
2021-08-12T23:00:28.742Z,1628809228.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:28.742Z,1628809228.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:28.743Z,1628809228.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:29.145Z,1628809229.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:29.561Z,1628809229.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00A16,186,80,80,A2,FF
2021-08-12T23:00:29.561Z,1628809229.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:29.990Z,1628809229.990 [Micromodem](INFO): Nmea in: $SNTTA,0.260697,,,,230030.26*4A

2021-08-12T23:00:30.011Z,1628809230.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.420006 m, bearing: 135.393774 deg, deltaT: 4.461351 s, approachRate: -0.672440 m/s, LOS rate: 0.172892 deg/s, posRepo size: 4
2021-08-12T23:00:30.014Z,1628809230.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.420006 m,
      bearing: 135.393774 deg,
      approachRate: -0.672440 m/s,
      LOS rate: 0.172892 deg/s,
      cmd update: 0.518677 deg/s,
      cmd heading: 134.456952 deg,
      new cmd heading: 133.822871 deg.

2021-08-12T23:00:32.449Z,1628809232.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:32.783Z,1628809232.783 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:32.783Z,1628809232.783 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:32.783Z,1628809232.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:32.784Z,1628809232.784 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:33.181Z,1628809233.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00A16,186,80,80,A2,FF
2021-08-12T23:00:33.181Z,1628809233.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:33.181Z,1628809233.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:33.183Z,1628809233.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:33.593Z,1628809233.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:34.005Z,1628809234.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,009E4,186,80,80,94,FF
2021-08-12T23:00:34.005Z,1628809234.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:34.445Z,1628809234.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230034.70*5F

2021-08-12T23:00:34.491Z,1628809234.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.419998 m, bearing: 135.950968 deg, deltaT: 4.419766 s, approachRate: -0.678771 m/s, LOS rate: 0.126068 deg/s, posRepo size: 4
2021-08-12T23:00:34.497Z,1628809234.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 135.950968 deg,
      approachRate: -0.678771 m/s,
      LOS rate: 0.126068 deg/s,
      cmd update: 0.378205 deg/s,
      cmd heading: 136.749377 deg,
      new cmd heading: 136.989795 deg.

2021-08-12T23:00:36.843Z,1628809236.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:37.221Z,1628809237.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:37.221Z,1628809237.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:37.221Z,1628809237.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:37.222Z,1628809237.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:37.633Z,1628809237.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,009E4,186,80,80,94,FF
2021-08-12T23:00:37.633Z,1628809237.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:37.633Z,1628809237.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:37.635Z,1628809237.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:38.040Z,1628809238.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:38.437Z,1628809238.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,009B1,186,80,80,A4,FF
2021-08-12T23:00:38.437Z,1628809238.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:38.903Z,1628809238.903 [Micromodem](INFO): Nmea in: $SNTTA,0.100373,,,,230039.16*4A

2021-08-12T23:00:38.982Z,1628809238.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 135.086266 deg, deltaT: 4.462232 s, approachRate: -0.685755 m/s, LOS rate: -0.193782 deg/s, posRepo size: 4
2021-08-12T23:00:38.989Z,1628809238.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 135.086266 deg,
      approachRate: -0.685755 m/s,
      LOS rate: -0.193782 deg/s,
      cmd update: -0.581347 deg/s,
      cmd heading: 138.436811 deg,
      new cmd heading: 138.623458 deg.

2021-08-12T23:00:41.370Z,1628809241.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:41.669Z,1628809241.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:41.669Z,1628809241.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:41.669Z,1628809241.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:41.670Z,1628809241.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:42.069Z,1628809242.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,009B1,186,80,80,A4,FF
2021-08-12T23:00:42.069Z,1628809242.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:42.069Z,1628809242.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:42.071Z,1628809242.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:42.493Z,1628809242.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:42.908Z,1628809242.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,00983,186,80,80,B3,FF
2021-08-12T23:00:42.908Z,1628809242.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:42.942Z,1628809242.942 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T23:00:43.346Z,1628809243.346 [Micromodem](INFO): Nmea in: $SNTTA,0.076610,,,,230043.59*4C

2021-08-12T23:00:43.404Z,1628809243.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.600006 m, bearing: 134.772309 deg, deltaT: 4.489962 s, approachRate: -0.614703 m/s, LOS rate: -0.069924 deg/s, posRepo size: 4
2021-08-12T23:00:43.406Z,1628809243.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.600006 m,
      bearing: 134.772309 deg,
      approachRate: -0.614703 m/s,
      LOS rate: -0.069924 deg/s,
      cmd update: -0.209772 deg/s,
      cmd heading: 135.828559 deg,
      new cmd heading: 135.581912 deg.

2021-08-12T23:00:45.782Z,1628809245.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:46.113Z,1628809246.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:46.113Z,1628809246.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:46.113Z,1628809246.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:46.114Z,1628809246.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:46.525Z,1628809246.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,00983,186,80,80,B3,FF
2021-08-12T23:00:46.525Z,1628809246.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:46.525Z,1628809246.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:46.527Z,1628809246.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:46.961Z,1628809246.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:47.362Z,1628809247.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00950,186,80,80,B0,FF
2021-08-12T23:00:47.362Z,1628809247.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:47.769Z,1628809247.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230048.05*56

2021-08-12T23:00:47.784Z,1628809247.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.540009 m, bearing: 133.969502 deg, deltaT: 4.444131 s, approachRate: -0.688548 m/s, LOS rate: -0.180644 deg/s, posRepo size: 4
2021-08-12T23:00:47.786Z,1628809247.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 133.969502 deg,
      approachRate: -0.688548 m/s,
      LOS rate: -0.180644 deg/s,
      cmd update: -0.541933 deg/s,
      cmd heading: 134.896317 deg,
      new cmd heading: 134.819835 deg.

2021-08-12T23:00:50.171Z,1628809250.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:50.561Z,1628809250.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:50.561Z,1628809250.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:50.561Z,1628809250.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:50.562Z,1628809250.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:50.973Z,1628809250.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00950,186,80,80,B0,FF
2021-08-12T23:00:50.973Z,1628809250.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:50.973Z,1628809250.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:50.975Z,1628809250.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:51.416Z,1628809251.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:51.778Z,1628809251.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,0091F,186,80,80,AC,FF
2021-08-12T23:00:51.778Z,1628809251.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:52.213Z,1628809252.213 [Micromodem](INFO): Nmea in: $SNTTA,0.075660,,,,230052.49*49

2021-08-12T23:00:52.247Z,1628809252.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.600006 m, bearing: 134.633137 deg, deltaT: 4.371217 s, approachRate: -0.672582 m/s, LOS rate: 0.151819 deg/s, posRepo size: 4
2021-08-12T23:00:52.249Z,1628809252.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 134.633137 deg,
      approachRate: -0.672582 m/s,
      LOS rate: 0.151819 deg/s,
      cmd update: 0.455458 deg/s,
      cmd heading: 132.525352 deg,
      new cmd heading: 132.280011 deg.

2021-08-12T23:00:54.662Z,1628809254.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:55.013Z,1628809255.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:55.013Z,1628809255.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:55.013Z,1628809255.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:55.014Z,1628809255.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:55.426Z,1628809255.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,0091F,186,80,80,AC,FF
2021-08-12T23:00:55.426Z,1628809255.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:55.427Z,1628809255.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:55.430Z,1628809255.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:00:55.829Z,1628809255.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:00:56.285Z,1628809256.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,008EF,186,80,80,AF,FF
2021-08-12T23:00:56.286Z,1628809256.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:00:56.665Z,1628809256.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230056.95*50

2021-08-12T23:00:56.729Z,1628809256.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.720001 m, bearing: 133.355304 deg, deltaT: 4.511981 s, approachRate: -0.638302 m/s, LOS rate: -0.283209 deg/s, posRepo size: 4
2021-08-12T23:00:56.731Z,1628809256.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.720001 m,
      bearing: 133.355304 deg,
      approachRate: -0.638302 m/s,
      LOS rate: -0.283209 deg/s,
      cmd update: -0.849626 deg/s,
      cmd heading: 134.580498 deg,
      new cmd heading: 134.770336 deg.

2021-08-12T23:00:59.114Z,1628809259.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:00:59.463Z,1628809259.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:00:59.463Z,1628809259.463 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:00:59.463Z,1628809259.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:00:59.465Z,1628809259.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:00:59.866Z,1628809259.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,008EF,186,80,80,AF,FF
2021-08-12T23:00:59.866Z,1628809259.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:00:59.866Z,1628809259.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:00:59.869Z,1628809259.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:00.281Z,1628809260.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:00.673Z,1628809260.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00281,186,80,80,B7,FF
2021-08-12T23:01:00.673Z,1628809260.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:01.113Z,1628809261.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230101.39*55

2021-08-12T23:01:01.171Z,1628809261.171 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-12T23:01:01.171Z,1628809261.171 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-12T23:01:01.171Z,1628809261.171 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-12T23:01:01.172Z,1628809261.172 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T23:01:01.172Z,1628809261.172 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-12T23:01:01.172Z,1628809261.172 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 0.959999 m 
2021-08-12T23:01:01.173Z,1628809261.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-12T23:01:01.173Z,1628809261.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-12T23:01:01.173Z,1628809261.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-12T23:01:01.175Z,1628809261.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 0.959999 m, bearing: 133.536291 deg, deltaT: 4.446876 s, approachRate: -22.208851 m/s, LOS rate: 0.040700 deg/s, posRepo size: 4
2021-08-12T23:01:01.176Z,1628809261.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 0.96 m.
2021-08-12T23:01:01.178Z,1628809261.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 0.959999 m,
      bearing: 133.536291 deg,
      approachRate: -22.208851 m/s,
      LOS rate: 0.040700 deg/s,
      cmd update: 0.122099 deg/s,
      cmd heading: 130.802319 deg,
      new cmd heading: 130.444097 deg.

2021-08-12T23:01:01.526Z,1628809261.526 [PowerOnly](INFO): Powering up loadControl
2021-08-12T23:01:01.565Z,1628809261.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T23:01:01.565Z,1628809261.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:01:01.565Z,1628809261.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T23:01:01.566Z,1628809261.566 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T23:01:01.566Z,1628809261.566 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T23:01:01.566Z,1628809261.566 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T23:01:01.567Z,1628809261.567 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210812T230101: (41.552319, -70.708603)
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-12T23:01:01.568Z,1628809261.568 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-12T23:01:01.569Z,1628809261.569 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-12T23:01:01.569Z,1628809261.569 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-12T23:01:01.970Z,1628809261.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T23:01:01.970Z,1628809261.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:01:01.970Z,1628809261.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T23:01:01.970Z,1628809261.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:01:03.598Z,1628809263.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:03.905Z,1628809263.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:03.905Z,1628809263.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:03.905Z,1628809263.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:03.906Z,1628809263.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:04.318Z,1628809264.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00281,186,80,80,B7,FF
2021-08-12T23:01:04.319Z,1628809264.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:04.320Z,1628809264.320 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:04.326Z,1628809264.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:04.709Z,1628809264.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:05.113Z,1628809265.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00891,185,80,80,71,FF
2021-08-12T23:01:05.113Z,1628809265.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:05.216Z,1628809265.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:01:05.537Z,1628809265.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230105.85*56

2021-08-12T23:01:05.587Z,1628809265.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 136.959705 deg, deltaT: 4.459371 s, approachRate: 20.881870 m/s, LOS rate: 0.767690 deg/s, posRepo size: 4
2021-08-12T23:01:05.593Z,1628809265.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 136.959705 deg,
      approachRate: 20.881870 m/s,
      LOS rate: 0.767690 deg/s,
      cmd update: 2.303070 deg/s,
      cmd heading: 131.344805 deg,
      new cmd heading: 131.392499 deg.

2021-08-12T23:01:05.957Z,1628809265.957 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T23:01:05.957Z,1628809265.957 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:01:05.957Z,1628809265.957 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T23:01:05.958Z,1628809265.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T23:01:05.958Z,1628809265.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T23:01:05.958Z,1628809265.958 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T23:01:06.398Z,1628809266.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T23:01:06.398Z,1628809266.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:01:06.398Z,1628809266.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T23:01:06.398Z,1628809266.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:01:07.983Z,1628809267.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:08.372Z,1628809268.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:08.373Z,1628809268.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:08.373Z,1628809268.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:08.374Z,1628809268.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:08.753Z,1628809268.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00891,185,80,80,71,FF
2021-08-12T23:01:08.754Z,1628809268.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:08.754Z,1628809268.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:08.756Z,1628809268.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:09.169Z,1628809269.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:09.565Z,1628809269.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00862,186,80,80,50,FF
2021-08-12T23:01:09.565Z,1628809269.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:10.005Z,1628809270.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230110.28*55

2021-08-12T23:01:10.027Z,1628809270.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.260002 m, bearing: 135.886709 deg, deltaT: 4.401974 s, approachRate: -0.640622 m/s, LOS rate: -0.243753 deg/s, posRepo size: 4
2021-08-12T23:01:10.029Z,1628809270.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.260002 m,
      bearing: 135.886709 deg,
      approachRate: -0.640622 m/s,
      LOS rate: -0.243753 deg/s,
      cmd update: -0.731260 deg/s,
      cmd heading: 141.520218 deg,
      new cmd heading: 142.469672 deg.

2021-08-12T23:01:12.427Z,1628809272.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:12.789Z,1628809272.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:12.789Z,1628809272.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:12.789Z,1628809272.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:12.790Z,1628809272.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:13.201Z,1628809273.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00862,186,80,80,50,FF
2021-08-12T23:01:13.201Z,1628809273.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:13.201Z,1628809273.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:13.203Z,1628809273.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:13.600Z,1628809273.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:14.009Z,1628809274.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,00834,186,80,80,4E,FF
2021-08-12T23:01:14.009Z,1628809274.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:14.437Z,1628809274.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230114.72*5E

2021-08-12T23:01:14.491Z,1628809274.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.500000 m, bearing: 133.681883 deg, deltaT: 4.411841 s, approachRate: -0.625590 m/s, LOS rate: -0.499752 deg/s, posRepo size: 4
2021-08-12T23:01:14.497Z,1628809274.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.500000 m,
      bearing: 133.681883 deg,
      approachRate: -0.625590 m/s,
      LOS rate: -0.499752 deg/s,
      cmd update: -1.499256 deg/s,
      cmd heading: 138.294019 deg,
      new cmd heading: 137.954284 deg.

2021-08-12T23:01:16.883Z,1628809276.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:17.245Z,1628809277.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:17.245Z,1628809277.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:17.245Z,1628809277.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:17.246Z,1628809277.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:17.641Z,1628809277.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,00834,186,80,80,4E,FF
2021-08-12T23:01:17.641Z,1628809277.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:17.641Z,1628809277.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:17.643Z,1628809277.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:18.049Z,1628809278.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:18.449Z,1628809278.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00809,186,80,80,C4,FF
2021-08-12T23:01:18.449Z,1628809278.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:18.905Z,1628809278.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230119.16*51

2021-08-12T23:01:18.970Z,1628809278.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 132.598492 deg, deltaT: 4.523239 s, approachRate: -0.570386 m/s, LOS rate: -0.239517 deg/s, posRepo size: 4
2021-08-12T23:01:18.972Z,1628809278.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 132.598492 deg,
      approachRate: -0.570386 m/s,
      LOS rate: -0.239517 deg/s,
      cmd update: -0.718550 deg/s,
      cmd heading: 131.512233 deg,
      new cmd heading: 130.882399 deg.

2021-08-12T23:01:21.377Z,1628809281.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:21.677Z,1628809281.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:21.677Z,1628809281.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:21.677Z,1628809281.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:21.678Z,1628809281.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:22.081Z,1628809282.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00809,186,80,80,C4,FF
2021-08-12T23:01:22.081Z,1628809282.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:22.081Z,1628809282.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:22.083Z,1628809282.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:22.506Z,1628809282.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:22.948Z,1628809282.948 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,007D7,186,80,80,7C,FF
2021-08-12T23:01:22.948Z,1628809282.948 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:22.969Z,1628809282.969 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:01:23.341Z,1628809283.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230123.60*59

2021-08-12T23:01:23.368Z,1628809283.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 135.082728 deg, deltaT: 4.464171 s, approachRate: -0.672019 m/s, LOS rate: 0.556483 deg/s, posRepo size: 4
2021-08-12T23:01:23.370Z,1628809283.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 135.082728 deg,
      approachRate: -0.672019 m/s,
      LOS rate: 0.556483 deg/s,
      cmd update: 1.669449 deg/s,
      cmd heading: 128.307365 deg,
      new cmd heading: 128.050346 deg.

2021-08-12T23:01:25.789Z,1628809285.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:26.125Z,1628809286.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:26.125Z,1628809286.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:26.125Z,1628809286.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:26.126Z,1628809286.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:26.521Z,1628809286.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,007D7,186,80,80,7C,FF
2021-08-12T23:01:26.521Z,1628809286.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:26.521Z,1628809286.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:26.523Z,1628809286.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:26.986Z,1628809286.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:27.361Z,1628809287.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,007AE,183,80,80,7D,FF
2021-08-12T23:01:27.362Z,1628809287.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:27.781Z,1628809287.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230128.04*50

2021-08-12T23:01:27.803Z,1628809287.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.459999 m, bearing: 136.796477 deg, deltaT: 4.393131 s, approachRate: -0.559965 m/s, LOS rate: 0.390097 deg/s, posRepo size: 4
2021-08-12T23:01:27.805Z,1628809287.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.459999 m,
      bearing: 136.796477 deg,
      approachRate: -0.559965 m/s,
      LOS rate: 0.390097 deg/s,
      cmd update: 1.170292 deg/s,
      cmd heading: 135.641390 deg,
      new cmd heading: 136.309006 deg.

2021-08-12T23:01:30.184Z,1628809290.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:30.565Z,1628809290.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:30.565Z,1628809290.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:30.565Z,1628809290.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:30.566Z,1628809290.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:30.981Z,1628809290.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,007AE,183,80,80,7D,FF
2021-08-12T23:01:30.981Z,1628809290.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:30.982Z,1628809290.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:30.983Z,1628809290.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:31.429Z,1628809291.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:31.781Z,1628809291.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,0077E,186,80,80,87,FF
2021-08-12T23:01:31.781Z,1628809291.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:32.229Z,1628809292.229 [Micromodem](INFO): Nmea in: $SNTTA,0.054237,,,,230132.50*43

2021-08-12T23:01:32.251Z,1628809292.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 135.565731 deg, deltaT: 4.452394 s, approachRate: -0.646842 m/s, LOS rate: -0.276423 deg/s, posRepo size: 4
2021-08-12T23:01:32.253Z,1628809292.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.580002 m,
      bearing: 135.565731 deg,
      approachRate: -0.646842 m/s,
      LOS rate: -0.276423 deg/s,
      cmd update: -0.829270 deg/s,
      cmd heading: 140.848579 deg,
      new cmd heading: 141.314817 deg.

2021-08-12T23:01:34.636Z,1628809294.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:35.013Z,1628809295.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:35.013Z,1628809295.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:35.013Z,1628809295.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:35.014Z,1628809295.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:35.421Z,1628809295.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,0077E,186,80,80,87,FF
2021-08-12T23:01:35.421Z,1628809295.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:35.421Z,1628809295.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:35.423Z,1628809295.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:35.831Z,1628809295.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:36.237Z,1628809296.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00751,186,80,80,AE,FF
2021-08-12T23:01:36.237Z,1628809296.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:36.669Z,1628809296.669 [Micromodem](INFO): Nmea in: $SNTTA,0.059685,,,,230136.94*4F

2021-08-12T23:01:36.736Z,1628809296.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 132.401018 deg, deltaT: 4.394678 s, approachRate: -0.614381 m/s, LOS rate: -0.720124 deg/s, posRepo size: 4
2021-08-12T23:01:36.738Z,1628809296.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 132.401018 deg,
      approachRate: -0.614381 m/s,
      LOS rate: -0.720124 deg/s,
      cmd update: -2.160372 deg/s,
      cmd heading: 137.198476 deg,
      new cmd heading: 136.802809 deg.

2021-08-12T23:01:39.099Z,1628809299.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:39.473Z,1628809299.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:39.473Z,1628809299.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:39.473Z,1628809299.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:39.474Z,1628809299.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:39.866Z,1628809299.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00751,186,80,80,AE,FF
2021-08-12T23:01:39.866Z,1628809299.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:39.866Z,1628809299.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:39.869Z,1628809299.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:40.278Z,1628809300.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:40.677Z,1628809300.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,0071E,186,80,80,8E,FF
2021-08-12T23:01:40.678Z,1628809300.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:41.114Z,1628809301.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230141.39*51

2021-08-12T23:01:41.150Z,1628809301.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 132.414077 deg, deltaT: 4.511724 s, approachRate: -0.678232 m/s, LOS rate: 0.002895 deg/s, posRepo size: 4
2021-08-12T23:01:41.152Z,1628809301.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.820000 m,
      bearing: 132.414077 deg,
      approachRate: -0.678232 m/s,
      LOS rate: 0.002895 deg/s,
      cmd update: 0.008684 deg/s,
      cmd heading: 127.526984 deg,
      new cmd heading: 126.623221 deg.

2021-08-12T23:01:43.561Z,1628809303.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:43.913Z,1628809303.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:43.913Z,1628809303.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:43.913Z,1628809303.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:43.914Z,1628809303.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:44.337Z,1628809304.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,0071E,186,80,80,8E,FF
2021-08-12T23:01:44.337Z,1628809304.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:44.338Z,1628809304.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:44.346Z,1628809304.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:44.728Z,1628809304.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:45.137Z,1628809305.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,006F0,184,80,80,81,FF
2021-08-12T23:01:45.138Z,1628809305.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:45.570Z,1628809305.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230145.87*50

2021-08-12T23:01:45.596Z,1628809305.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 133.880737 deg, deltaT: 4.477613 s, approachRate: -0.616400 m/s, LOS rate: 0.327554 deg/s, posRepo size: 4
2021-08-12T23:01:45.598Z,1628809305.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 133.880737 deg,
      approachRate: -0.616400 m/s,
      LOS rate: 0.327554 deg/s,
      cmd update: 0.982662 deg/s,
      cmd heading: 127.566031 deg,
      new cmd heading: 127.569228 deg.

2021-08-12T23:01:47.975Z,1628809307.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:48.389Z,1628809308.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:48.389Z,1628809308.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:48.389Z,1628809308.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:48.390Z,1628809308.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:48.761Z,1628809308.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,006F0,184,80,80,81,FF
2021-08-12T23:01:48.761Z,1628809308.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:48.761Z,1628809308.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:48.763Z,1628809308.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:49.181Z,1628809309.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:49.573Z,1628809309.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,006BF,185,80,80,A1,FF
2021-08-12T23:01:49.573Z,1628809309.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:50.018Z,1628809310.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230150.28*51

2021-08-12T23:01:50.035Z,1628809310.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.120003 m, bearing: 132.730192 deg, deltaT: 4.406170 s, approachRate: -0.667245 m/s, LOS rate: -0.261121 deg/s, posRepo size: 4
2021-08-12T23:01:50.037Z,1628809310.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.120003 m,
      bearing: 132.730192 deg,
      approachRate: -0.667245 m/s,
      LOS rate: -0.261121 deg/s,
      cmd update: -0.783364 deg/s,
      cmd heading: 131.907621 deg,
      new cmd heading: 132.290149 deg.

2021-08-12T23:01:52.476Z,1628809312.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:52.813Z,1628809312.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:52.813Z,1628809312.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:52.813Z,1628809312.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:52.814Z,1628809312.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:53.224Z,1628809313.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,006BF,185,80,80,A1,FF
2021-08-12T23:01:53.224Z,1628809313.224 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:53.225Z,1628809313.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:53.226Z,1628809313.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:53.627Z,1628809313.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:54.037Z,1628809314.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0068E,184,80,80,C4,FF
2021-08-12T23:01:54.037Z,1628809314.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:54.437Z,1628809314.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230154.75*5D

2021-08-12T23:01:54.480Z,1628809314.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 132.555325 deg, deltaT: 4.403869 s, approachRate: -0.667594 m/s, LOS rate: -0.039707 deg/s, posRepo size: 4
2021-08-12T23:01:54.482Z,1628809314.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 132.555325 deg,
      approachRate: -0.667594 m/s,
      LOS rate: -0.039707 deg/s,
      cmd update: -0.119122 deg/s,
      cmd heading: 128.454679 deg,
      new cmd heading: 128.120687 deg.

2021-08-12T23:01:56.935Z,1628809316.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:01:57.254Z,1628809317.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:01:57.254Z,1628809317.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:01:57.254Z,1628809317.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:01:57.255Z,1628809317.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:01:57.681Z,1628809317.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0068E,184,80,80,C4,FF
2021-08-12T23:01:57.681Z,1628809317.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:01:57.681Z,1628809317.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:01:57.683Z,1628809317.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:01:58.092Z,1628809318.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:01:58.473Z,1628809318.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00659,183,80,80,A3,FF
2021-08-12T23:01:58.473Z,1628809318.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:01:58.941Z,1628809318.941 [Micromodem](INFO): Nmea in: $SNTTA,0.151157,,,,230159.20*48

2021-08-12T23:01:58.987Z,1628809318.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.000000 m, bearing: 133.349103 deg, deltaT: 4.505155 s, approachRate: -0.705859 m/s, LOS rate: 0.176193 deg/s, posRepo size: 4
2021-08-12T23:01:58.989Z,1628809318.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.000000 m,
      bearing: 133.349103 deg,
      approachRate: -0.705859 m/s,
      LOS rate: 0.176193 deg/s,
      cmd update: 0.528579 deg/s,
      cmd heading: 127.919924 deg,
      new cmd heading: 127.867083 deg.

2021-08-12T23:02:01.377Z,1628809321.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:01.709Z,1628809321.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:01.709Z,1628809321.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:01.709Z,1628809321.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:01.710Z,1628809321.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:02.109Z,1628809322.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00659,183,80,80,A3,FF
2021-08-12T23:02:02.109Z,1628809322.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:02.110Z,1628809322.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:02.112Z,1628809322.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:02.517Z,1628809322.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:02.970Z,1628809322.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0062B,183,80,80,99,FF
2021-08-12T23:02:02.971Z,1628809322.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:03.365Z,1628809323.365 [Micromodem](INFO): Nmea in: $SNTTA,,0.043817,,,230203.63*4C

2021-08-12T23:02:03.404Z,1628809323.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 133.393485 deg, deltaT: 4.479375 s, approachRate: -0.616156 m/s, LOS rate: 0.009908 deg/s, posRepo size: 4
2021-08-12T23:02:03.406Z,1628809323.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.240005 m,
      bearing: 133.393485 deg,
      approachRate: -0.616156 m/s,
      LOS rate: 0.009908 deg/s,
      cmd update: 0.029725 deg/s,
      cmd heading: 130.293752 deg,
      new cmd heading: 130.489299 deg.

2021-08-12T23:02:05.802Z,1628809325.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:06.149Z,1628809326.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:06.149Z,1628809326.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:06.149Z,1628809326.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:06.150Z,1628809326.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:06.553Z,1628809326.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0062B,183,80,80,99,FF
2021-08-12T23:02:06.553Z,1628809326.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:06.553Z,1628809326.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:06.555Z,1628809326.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:06.993Z,1628809326.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:07.389Z,1628809327.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,028,000,005F4,185,80,80,A5,FF
2021-08-12T23:02:07.389Z,1628809327.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:07.802Z,1628809327.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230208.08*5D

2021-08-12T23:02:07.851Z,1628809327.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 134.477122 deg, deltaT: 4.404791 s, approachRate: -0.749187 m/s, LOS rate: 0.246013 deg/s, posRepo size: 4
2021-08-12T23:02:07.855Z,1628809327.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 134.477122 deg,
      approachRate: -0.749187 m/s,
      LOS rate: 0.246013 deg/s,
      cmd update: 0.738040 deg/s,
      cmd heading: 130.424815 deg,
      new cmd heading: 130.436920 deg.

2021-08-12T23:02:10.243Z,1628809330.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:10.593Z,1628809330.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:10.593Z,1628809330.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:10.593Z,1628809330.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:10.594Z,1628809330.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:11.005Z,1628809331.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
028,000,005F4,185,80,80,A5,FF
2021-08-12T23:02:11.005Z,1628809331.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:11.005Z,1628809331.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:11.007Z,1628809331.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:11.417Z,1628809331.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:11.805Z,1628809331.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,005C4,186,80,80,B0,FF
2021-08-12T23:02:11.805Z,1628809331.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:12.241Z,1628809332.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230212.53*58

2021-08-12T23:02:12.283Z,1628809332.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 132.300778 deg, deltaT: 4.379466 s, approachRate: -0.657615 m/s, LOS rate: -0.496943 deg/s, posRepo size: 4
2021-08-12T23:02:12.285Z,1628809332.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 132.300778 deg,
      approachRate: -0.657615 m/s,
      LOS rate: -0.496943 deg/s,
      cmd update: -1.490828 deg/s,
      cmd heading: 133.657031 deg,
      new cmd heading: 133.996462 deg.

2021-08-12T23:02:14.672Z,1628809334.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:15.033Z,1628809335.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:15.033Z,1628809335.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:15.033Z,1628809335.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:15.034Z,1628809335.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:15.441Z,1628809335.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,005C4,186,80,80,B0,FF
2021-08-12T23:02:15.441Z,1628809335.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:15.441Z,1628809335.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:15.443Z,1628809335.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:15.855Z,1628809335.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:16.258Z,1628809336.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00592,186,80,80,AE,FF
2021-08-12T23:02:16.258Z,1628809336.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:16.697Z,1628809336.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230216.96*55

2021-08-12T23:02:16.744Z,1628809336.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 131.162814 deg, deltaT: 4.452592 s, approachRate: -0.673763 m/s, LOS rate: -0.255573 deg/s, posRepo size: 4
2021-08-12T23:02:16.753Z,1628809336.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.060001 m,
      bearing: 131.162814 deg,
      approachRate: -0.673763 m/s,
      LOS rate: -0.255573 deg/s,
      cmd update: -0.766720 deg/s,
      cmd heading: 127.019031 deg,
      new cmd heading: 126.321471 deg.

2021-08-12T23:02:19.126Z,1628809339.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:19.489Z,1628809339.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:19.489Z,1628809339.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:19.489Z,1628809339.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:19.490Z,1628809339.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:19.893Z,1628809339.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00592,186,80,80,AE,FF
2021-08-12T23:02:19.893Z,1628809339.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:19.893Z,1628809339.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:19.895Z,1628809339.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:20.292Z,1628809340.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:20.697Z,1628809340.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0055F,183,80,80,B7,FF
2021-08-12T23:02:20.697Z,1628809340.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:21.137Z,1628809341.137 [Micromodem](INFO): Nmea in: $SNTTA,0.439234,,,,230221.41*4E

2021-08-12T23:02:21.185Z,1628809341.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 132.603369 deg, deltaT: 4.516474 s, approachRate: -0.677520 m/s, LOS rate: 0.318956 deg/s, posRepo size: 4
2021-08-12T23:02:21.187Z,1628809341.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.000000 m,
      bearing: 132.603369 deg,
      approachRate: -0.677520 m/s,
      LOS rate: 0.318956 deg/s,
      cmd update: 0.956867 deg/s,
      cmd heading: 123.579876 deg,
      new cmd heading: 123.254801 deg.

2021-08-12T23:02:23.567Z,1628809343.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:23.921Z,1628809343.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:23.921Z,1628809343.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:23.921Z,1628809343.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:23.922Z,1628809343.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:24.363Z,1628809344.363 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0055F,183,80,80,B7,FF
2021-08-12T23:02:24.363Z,1628809344.363 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:24.363Z,1628809344.363 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:24.365Z,1628809344.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:24.746Z,1628809344.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:25.137Z,1628809345.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00274,184,80,80,A4,FF
2021-08-12T23:02:25.137Z,1628809345.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:25.569Z,1628809345.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230225.88*5A

2021-08-12T23:02:25.605Z,1628809345.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 0.179999 m, bearing: 134.899050 deg, deltaT: 4.425368 s, approachRate: -10.127972 m/s, LOS rate: 0.518755 deg/s, posRepo size: 4
2021-08-12T23:02:25.605Z,1628809345.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 0.18 m.
2021-08-12T23:02:25.607Z,1628809345.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 0.179999 m,
      bearing: 134.899050 deg,
      approachRate: -10.127972 m/s,
      LOS rate: 0.518755 deg/s,
      cmd update: 1.556265 deg/s,
      cmd heading: 127.836140 deg,
      new cmd heading: 128.214912 deg.

2021-08-12T23:02:26.001Z,1628809346.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T23:02:26.001Z,1628809346.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:02:26.001Z,1628809346.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T23:02:26.002Z,1628809346.002 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T23:02:26.002Z,1628809346.002 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T23:02:26.002Z,1628809346.002 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T23:02:26.449Z,1628809346.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T23:02:26.450Z,1628809346.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:02:26.450Z,1628809346.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T23:02:26.450Z,1628809346.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:02:27.983Z,1628809347.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:28.405Z,1628809348.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:28.405Z,1628809348.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:28.406Z,1628809348.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:28.406Z,1628809348.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:28.777Z,1628809348.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00274,184,80,80,A4,FF
2021-08-12T23:02:28.777Z,1628809348.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:28.777Z,1628809348.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:28.779Z,1628809348.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:29.185Z,1628809349.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:29.589Z,1628809349.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,004F9,183,80,80,7A,FF
2021-08-12T23:02:29.590Z,1628809349.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:29.622Z,1628809349.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:30.026Z,1628809350.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230230.30*5D

2021-08-12T23:02:30.048Z,1628809350.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 133.199016 deg, deltaT: 4.403217 s, approachRate: 8.789028 m/s, LOS rate: -0.386089 deg/s, posRepo size: 4
2021-08-12T23:02:30.048Z,1628809350.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.88 m.
2021-08-12T23:02:30.050Z,1628809350.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.879997 m,
      bearing: 133.199016 deg,
      approachRate: 8.789028 m/s,
      LOS rate: -0.386089 deg/s,
      cmd update: -1.158267 deg/s,
      cmd heading: 134.695521 deg,
      new cmd heading: 135.366662 deg.

2021-08-12T23:02:32.442Z,1628809352.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:32.831Z,1628809352.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:32.832Z,1628809352.832 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:32.832Z,1628809352.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:32.833Z,1628809352.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:33.222Z,1628809353.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,004F9,183,80,80,7A,FF
2021-08-12T23:02:33.222Z,1628809353.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:33.222Z,1628809353.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:33.224Z,1628809353.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:33.640Z,1628809353.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:34.029Z,1628809354.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,004CA,186,80,80,7F,FF
2021-08-12T23:02:34.029Z,1628809354.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:34.073Z,1628809354.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:34.470Z,1628809354.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230234.75*58

2021-08-12T23:02:34.496Z,1628809354.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 130.784449 deg, deltaT: 4.450215 s, approachRate: -0.633676 m/s, LOS rate: -0.542573 deg/s, posRepo size: 4
2021-08-12T23:02:34.497Z,1628809354.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.06 m.
2021-08-12T23:02:34.499Z,1628809354.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 130.784449 deg,
      approachRate: -0.633676 m/s,
      LOS rate: -0.542573 deg/s,
      cmd update: -1.627720 deg/s,
      cmd heading: 129.541768 deg,
      new cmd heading: 129.043802 deg.

2021-08-12T23:02:36.956Z,1628809356.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:37.269Z,1628809357.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:37.269Z,1628809357.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:37.269Z,1628809357.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:37.270Z,1628809357.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:37.673Z,1628809357.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,004CA,186,80,80,7F,FF
2021-08-12T23:02:37.673Z,1628809357.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:37.673Z,1628809357.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:37.675Z,1628809357.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:38.068Z,1628809358.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:38.473Z,1628809358.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0049B,184,80,80,A2,FF
2021-08-12T23:02:38.473Z,1628809358.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:38.570Z,1628809358.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:38.949Z,1628809358.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230239.19*5F

2021-08-12T23:02:38.998Z,1628809358.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 129.093389 deg, deltaT: 4.496296 s, approachRate: -0.627184 m/s, LOS rate: -0.376100 deg/s, posRepo size: 4
2021-08-12T23:02:38.999Z,1628809358.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.24 m.
2021-08-12T23:02:38.999Z,1628809358.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.24 m.
2021-08-12T23:02:38.000Z,1628809359.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T23:02:39.002Z,1628809359.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.239998 m,
      bearing: 129.093389 deg,
      approachRate: -0.627184 m/s,
      LOS rate: -0.376100 deg/s,
      cmd update: -1.128301 deg/s,
      cmd heading: 122.223022 deg,
      new cmd heading: 121.513128 deg.

2021-08-12T23:02:41.393Z,1628809361.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:41.709Z,1628809361.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:41.709Z,1628809361.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:41.709Z,1628809361.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:41.710Z,1628809361.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:42.110Z,1628809362.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0049B,184,80,80,A2,FF
2021-08-12T23:02:42.110Z,1628809362.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:42.110Z,1628809362.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:42.112Z,1628809362.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:42.513Z,1628809362.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:42.969Z,1628809362.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00471,184,80,80,66,FF
2021-08-12T23:02:42.969Z,1628809362.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:43.038Z,1628809363.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:43.377Z,1628809363.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230243.63*5F

2021-08-12T23:02:43.403Z,1628809363.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 128.826507 deg, deltaT: 4.468107 s, approachRate: -0.563996 m/s, LOS rate: -0.059731 deg/s, posRepo size: 4
2021-08-12T23:02:43.405Z,1628809363.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.720001 m,
      bearing: 128.826507 deg,
      approachRate: -0.563996 m/s,
      LOS rate: -0.059731 deg/s,
      cmd update: -0.179192 deg/s,
      cmd heading: 117.181404 deg,
      new cmd heading: 116.761449 deg.

2021-08-12T23:02:45.770Z,1628809365.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:46.145Z,1628809366.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:46.145Z,1628809366.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:46.145Z,1628809366.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:46.146Z,1628809366.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:46.549Z,1628809366.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00471,184,80,80,66,FF
2021-08-12T23:02:46.549Z,1628809366.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:46.549Z,1628809366.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:46.551Z,1628809366.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:46.976Z,1628809366.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:47.790Z,1628809367.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230248.07*56

2021-08-12T23:02:48.603Z,1628809368.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:50.193Z,1628809370.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,184,80,80,66,FF
2021-08-12T23:02:50.193Z,1628809370.193 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,184,80,80,66,FF
2021-08-12T23:02:50.193Z,1628809370.193 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:02:51.449Z,1628809371.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:51.809Z,1628809371.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:51.809Z,1628809371.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:51.809Z,1628809371.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:51.810Z,1628809371.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:52.205Z,1628809372.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,184,80,80,66,FF
2021-08-12T23:02:52.205Z,1628809372.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:52.205Z,1628809372.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:52.207Z,1628809372.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:52.621Z,1628809372.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:53.013Z,1628809373.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,00408,186,80,80,68,FF
2021-08-12T23:02:53.013Z,1628809373.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:53.078Z,1628809373.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:53.469Z,1628809373.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230253.73*5F

2021-08-12T23:02:53.495Z,1628809373.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 137.838682 deg, deltaT: 10.040412 s, approachRate: -0.627464 m/s, LOS rate: 0.897590 deg/s, posRepo size: 4
2021-08-12T23:02:53.517Z,1628809373.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 137.838682 deg,
      approachRate: -0.627464 m/s,
      LOS rate: 0.897590 deg/s,
      cmd update: 2.692770 deg/s,
      cmd heading: 115.381534 deg,
      new cmd heading: 115.306329 deg.

2021-08-12T23:02:55.958Z,1628809375.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:02:56.243Z,1628809376.243 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:02:56.243Z,1628809376.243 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:02:56.243Z,1628809376.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:02:56.244Z,1628809376.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:02:56.681Z,1628809376.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,00408,186,80,80,68,FF
2021-08-12T23:02:56.682Z,1628809376.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:02:56.682Z,1628809376.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:02:56.683Z,1628809376.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:02:57.064Z,1628809377.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:02:57.471Z,1628809377.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,003D9,186,80,80,7D,FF
2021-08-12T23:02:57.471Z,1628809377.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:02:57.496Z,1628809377.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:02:57.886Z,1628809377.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230258.21*53

2021-08-12T23:02:57.946Z,1628809377.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 138.211774 deg, deltaT: 4.418414 s, approachRate: -0.638238 m/s, LOS rate: 0.084440 deg/s, posRepo size: 4
2021-08-12T23:02:57.952Z,1628809377.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.600000 m,
      bearing: 138.211774 deg,
      approachRate: -0.638238 m/s,
      LOS rate: 0.084440 deg/s,
      cmd update: 0.253321 deg/s,
      cmd heading: 127.279381 deg,
      new cmd heading: 128.497120 deg.

2021-08-12T23:03:00.309Z,1628809380.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:00.698Z,1628809380.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:00.698Z,1628809380.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:00.698Z,1628809380.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:00.700Z,1628809380.700 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:01.093Z,1628809381.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,003D9,186,80,80,7D,FF
2021-08-12T23:03:01.093Z,1628809381.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:01.093Z,1628809381.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:01.095Z,1628809381.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:01.504Z,1628809381.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:01.921Z,1628809381.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,003B6,186,80,80,39,FF
2021-08-12T23:03:01.921Z,1628809381.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:01.978Z,1628809381.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:02.362Z,1628809382.362 [Micromodem](INFO): Nmea in: $SNTTA,0.026384,,,,230302.62*4F

2021-08-12T23:03:02.418Z,1628809382.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 127.100436 deg, deltaT: 4.481308 s, approachRate: -0.468614 m/s, LOS rate: -2.479485 deg/s, posRepo size: 4
2021-08-12T23:03:02.425Z,1628809382.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.499998 m,
      bearing: 127.100436 deg,
      approachRate: -0.468614 m/s,
      LOS rate: -2.479485 deg/s,
      cmd update: -7.438457 deg/s,
      cmd heading: 128.413536 deg,
      new cmd heading: 128.526942 deg.

2021-08-12T23:03:04.798Z,1628809384.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:05.133Z,1628809385.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:05.133Z,1628809385.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:05.133Z,1628809385.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:05.134Z,1628809385.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:05.549Z,1628809385.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,003B6,186,80,80,39,FF
2021-08-12T23:03:05.549Z,1628809385.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:05.550Z,1628809385.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:05.551Z,1628809385.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:05.953Z,1628809385.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:06.349Z,1628809386.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00385,187,80,80,AA,FF
2021-08-12T23:03:06.350Z,1628809386.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:06.399Z,1628809386.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:06.809Z,1628809386.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230307.07*5C

2021-08-12T23:03:06.839Z,1628809386.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 137.152753 deg, deltaT: 4.420902 s, approachRate: -0.665022 m/s, LOS rate: 2.273816 deg/s, posRepo size: 4
2021-08-12T23:03:06.880Z,1628809386.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 137.152753 deg,
      approachRate: -0.665022 m/s,
      LOS rate: 2.273816 deg/s,
      cmd update: 6.821447 deg/s,
      cmd heading: 95.712629 deg,
      new cmd heading: 92.197698 deg.

2021-08-12T23:03:09.230Z,1628809389.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:09.585Z,1628809389.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:09.585Z,1628809389.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:09.585Z,1628809389.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:09.586Z,1628809389.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:09.997Z,1628809389.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00385,187,80,80,AA,FF
2021-08-12T23:03:09.997Z,1628809389.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:09.997Z,1628809389.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:09.999Z,1628809389.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:10.400Z,1628809390.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:10.789Z,1628809390.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,00351,188,80,80,9D,FF
2021-08-12T23:03:10.789Z,1628809390.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:10.881Z,1628809390.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:11.270Z,1628809391.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230311.52*5B

2021-08-12T23:03:11.360Z,1628809391.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 141.639368 deg, deltaT: 4.483390 s, approachRate: -0.695902 m/s, LOS rate: 1.000719 deg/s, posRepo size: 4
2021-08-12T23:03:11.362Z,1628809391.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 141.639368 deg,
      approachRate: -0.695902 m/s,
      LOS rate: 1.000719 deg/s,
      cmd update: 3.002158 deg/s,
      cmd heading: 126.335103 deg,
      new cmd heading: 129.664112 deg.

2021-08-12T23:03:13.649Z,1628809393.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:14.029Z,1628809394.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:14.029Z,1628809394.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:14.029Z,1628809394.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:14.030Z,1628809394.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:14.433Z,1628809394.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,00351,188,80,80,9D,FF
2021-08-12T23:03:14.433Z,1628809394.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:14.433Z,1628809394.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:14.435Z,1628809394.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:14.841Z,1628809394.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:15.241Z,1628809395.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00329,189,80,80,80,FF
2021-08-12T23:03:15.241Z,1628809395.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:15.302Z,1628809395.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:15.688Z,1628809395.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230315.95*54

2021-08-12T23:03:15.745Z,1628809395.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 140.462567 deg, deltaT: 4.420343 s, approachRate: -0.542945 m/s, LOS rate: -0.266224 deg/s, posRepo size: 4
2021-08-12T23:03:15.747Z,1628809395.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 140.462567 deg,
      approachRate: -0.542945 m/s,
      LOS rate: -0.266224 deg/s,
      cmd update: -0.798672 deg/s,
      cmd heading: 139.675042 deg,
      new cmd heading: 141.000062 deg.

2021-08-12T23:03:18.113Z,1628809398.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:18.462Z,1628809398.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:18.462Z,1628809398.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:18.462Z,1628809398.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:18.463Z,1628809398.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:18.881Z,1628809398.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00329,189,80,80,80,FF
2021-08-12T23:03:18.881Z,1628809398.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:18.882Z,1628809398.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:18.898Z,1628809398.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:19.292Z,1628809399.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:19.693Z,1628809399.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00319,187,80,80,BB,FF
2021-08-12T23:03:19.693Z,1628809399.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:19.737Z,1628809399.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:20.117Z,1628809400.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230320.43*59

2021-08-12T23:03:20.157Z,1628809400.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 144.476191 deg, deltaT: 4.434618 s, approachRate: -0.216478 m/s, LOS rate: 0.905066 deg/s, posRepo size: 4
2021-08-12T23:03:20.159Z,1628809400.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 144.476191 deg,
      approachRate: -0.216478 m/s,
      LOS rate: 0.905066 deg/s,
      cmd update: 2.715199 deg/s,
      cmd heading: 136.149626 deg,
      new cmd heading: 135.795439 deg.

2021-08-12T23:03:22.546Z,1628809402.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:22.969Z,1628809402.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:22.970Z,1628809402.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:22.970Z,1628809402.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:22.971Z,1628809402.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:23.333Z,1628809403.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00319,187,80,80,BB,FF
2021-08-12T23:03:23.333Z,1628809403.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:23.333Z,1628809403.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:23.335Z,1628809403.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:23.782Z,1628809403.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:24.138Z,1628809404.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,00460,186,80,80,AB,FF
2021-08-12T23:03:24.138Z,1628809404.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:24.162Z,1628809404.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:24.569Z,1628809404.569 [Micromodem](INFO): Nmea in: $SNTTA,0.056352,,,,230324.86*4D

2021-08-12T23:03:24.612Z,1628809404.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 155.033300 deg, deltaT: 4.425271 s, approachRate: 4.433626 m/s, LOS rate: 2.385641 deg/s, posRepo size: 4
2021-08-12T23:03:24.614Z,1628809404.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.699997 m,
      bearing: 155.033300 deg,
      approachRate: 4.433626 m/s,
      LOS rate: 2.385641 deg/s,
      cmd update: 7.156924 deg/s,
      cmd heading: 148.220435 deg,
      new cmd heading: 149.449783 deg.

2021-08-12T23:03:27.050Z,1628809407.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:27.373Z,1628809407.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:27.373Z,1628809407.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:27.373Z,1628809407.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:27.374Z,1628809407.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:27.781Z,1628809407.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F34,000,00460,186,80,80,AB,FF
2021-08-12T23:03:27.781Z,1628809407.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:27.782Z,1628809407.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:27.783Z,1628809407.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:28.180Z,1628809408.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:28.581Z,1628809408.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,002CF,183,80,80,63,FF
2021-08-12T23:03:28.581Z,1628809408.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:28.601Z,1628809408.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:29.013Z,1628809409.013 [Micromodem](INFO): Nmea in: $SNTTA,0.028575,,,,230329.30*47

2021-08-12T23:03:29.069Z,1628809409.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 159.824473 deg, deltaT: 4.439183 s, approachRate: -5.419916 m/s, LOS rate: 1.079292 deg/s, posRepo size: 4
2021-08-12T23:03:29.071Z,1628809409.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 159.824473 deg,
      approachRate: -5.419916 m/s,
      LOS rate: 1.079292 deg/s,
      cmd update: 3.237875 deg/s,
      cmd heading: 179.992525 deg,
      new cmd heading: 183.356672 deg.

2021-08-12T23:03:31.051Z,1628809411.051 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:03:31.120Z,1628809411.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:31.409Z,1628809411.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:31.409Z,1628809411.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:31.409Z,1628809411.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:31.410Z,1628809411.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:31.809Z,1628809411.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,002CF,183,80,80,63,FF
2021-08-12T23:03:31.809Z,1628809411.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:31.809Z,1628809411.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:31.811Z,1628809411.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:32.220Z,1628809412.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:32.625Z,1628809412.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,002CB,186,80,80,68,FF
2021-08-12T23:03:32.625Z,1628809412.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:32.646Z,1628809412.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:33.065Z,1628809413.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230333.33*5C

2021-08-12T23:03:33.109Z,1628809413.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 163.219023 deg, deltaT: 4.044205 s, approachRate: -0.059344 m/s, LOS rate: 0.839361 deg/s, posRepo size: 4
2021-08-12T23:03:33.111Z,1628809413.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 163.219023 deg,
      approachRate: -0.059344 m/s,
      LOS rate: 0.839361 deg/s,
      cmd update: 2.518084 deg/s,
      cmd heading: 193.087140 deg,
      new cmd heading: 194.596693 deg.

2021-08-12T23:03:35.489Z,1628809415.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:35.888Z,1628809415.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:35.888Z,1628809415.888 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:35.888Z,1628809415.888 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:35.889Z,1628809415.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:36.254Z,1628809416.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,002CB,186,80,80,68,FF
2021-08-12T23:03:36.254Z,1628809416.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:36.254Z,1628809416.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:36.256Z,1628809416.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:36.670Z,1628809416.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:37.073Z,1628809417.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,002D6,185,80,80,A1,FF
2021-08-12T23:03:37.073Z,1628809417.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:37.201Z,1628809417.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:37.506Z,1628809417.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230337.78*57

2021-08-12T23:03:37.522Z,1628809417.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 197.772307 deg, deltaT: 4.555534 s, approachRate: 0.144879 m/s, LOS rate: 7.584904 deg/s, posRepo size: 4
2021-08-12T23:03:37.524Z,1628809417.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 197.772307 deg,
      approachRate: 0.144879 m/s,
      LOS rate: 7.584904 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.518087 deg,
      new cmd heading: 205.373498 deg.

2021-08-12T23:03:39.950Z,1628809419.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:40.301Z,1628809420.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:40.301Z,1628809420.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:40.301Z,1628809420.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:40.302Z,1628809420.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:40.693Z,1628809420.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,002D6,185,80,80,A1,FF
2021-08-12T23:03:40.693Z,1628809420.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:40.694Z,1628809420.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:40.695Z,1628809420.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:41.109Z,1628809421.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:41.142Z,1628809421.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:03:41.505Z,1628809421.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,002F2,186,80,80,7A,FF
2021-08-12T23:03:41.506Z,1628809421.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:41.525Z,1628809421.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:41.949Z,1628809421.949 [Micromodem](INFO): Nmea in: $SNTTA,0.040002,,,,230342.22*42

2021-08-12T23:03:41.980Z,1628809421.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 223.364097 deg, deltaT: 4.324141 s, approachRate: 0.388517 m/s, LOS rate: 5.918353 deg/s, posRepo size: 4
2021-08-12T23:03:41.982Z,1628809421.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 223.364097 deg,
      approachRate: 0.388517 m/s,
      LOS rate: 5.918353 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.599660 deg,
      new cmd heading: 262.090428 deg.

2021-08-12T23:03:44.386Z,1628809424.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:44.749Z,1628809424.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:44.749Z,1628809424.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:44.749Z,1628809424.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:44.750Z,1628809424.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:45.154Z,1628809425.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,002F2,186,80,80,7A,FF
2021-08-12T23:03:45.154Z,1628809425.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:45.154Z,1628809425.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:45.156Z,1628809425.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:45.549Z,1628809425.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:46.382Z,1628809426.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230346.67*5F

2021-08-12T23:03:47.216Z,1628809427.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:48.781Z,1628809428.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,7A,FF
2021-08-12T23:03:48.781Z,1628809428.781 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,7A,FF
2021-08-12T23:03:48.781Z,1628809428.781 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:03:50.033Z,1628809430.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:50.401Z,1628809430.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:50.401Z,1628809430.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:50.401Z,1628809430.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:50.402Z,1628809430.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:50.806Z,1628809430.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,7A,FF
2021-08-12T23:03:50.806Z,1628809430.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:50.806Z,1628809430.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:50.808Z,1628809430.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:51.217Z,1628809431.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:51.233Z,1628809431.233 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:03:51.614Z,1628809431.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,0033E,187,80,80,54,FF
2021-08-12T23:03:51.614Z,1628809431.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:51.634Z,1628809431.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:52.069Z,1628809432.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230352.33*5B

2021-08-12T23:03:52.108Z,1628809432.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 256.272659 deg, deltaT: 10.108682 s, approachRate: 0.451097 m/s, LOS rate: 3.255475 deg/s, posRepo size: 4
2021-08-12T23:03:52.110Z,1628809432.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 256.272659 deg,
      approachRate: 0.451097 m/s,
      LOS rate: 3.255475 deg/s,
      cmd update: 9.766425 deg/s,
      cmd heading: 17.902193 deg,
      new cmd heading: 23.622485 deg.

2021-08-12T23:03:54.508Z,1628809434.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:54.855Z,1628809434.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:54.855Z,1628809434.855 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:54.855Z,1628809434.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:54.856Z,1628809434.856 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:55.246Z,1628809435.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,0033E,187,80,80,54,FF
2021-08-12T23:03:55.246Z,1628809435.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:55.247Z,1628809435.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:55.248Z,1628809435.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:03:55.648Z,1628809435.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:03:56.058Z,1628809436.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00356,186,80,80,76,FF
2021-08-12T23:03:56.058Z,1628809436.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:03:56.062Z,1628809436.062 [PowerOnly](INFO): Powering down loadControl
2021-08-12T23:03:56.115Z,1628809436.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:03:56.489Z,1628809436.489 [Micromodem](INFO): Nmea in: $SNTTA,0.039436,,,,230356.77*4A

2021-08-12T23:03:56.519Z,1628809436.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 307.029106 deg, deltaT: 4.485636 s, approachRate: 0.321025 m/s, LOS rate: 11.315329 deg/s, posRepo size: 4
2021-08-12T23:03:56.522Z,1628809436.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 307.029106 deg,
      approachRate: 0.321025 m/s,
      LOS rate: 11.315329 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.319207 deg,
      new cmd heading: 65.645148 deg.

2021-08-12T23:03:58.951Z,1628809438.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:03:59.282Z,1628809439.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:03:59.282Z,1628809439.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:03:59.282Z,1628809439.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:03:59.283Z,1628809439.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:03:59.693Z,1628809439.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00356,186,80,80,76,FF
2021-08-12T23:03:59.693Z,1628809439.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:03:59.693Z,1628809439.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:03:59.695Z,1628809439.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:00.103Z,1628809440.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:00.509Z,1628809440.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0036D,186,80,80,72,FF
2021-08-12T23:04:00.509Z,1628809440.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:00.560Z,1628809440.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:00.989Z,1628809440.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230401.22*5A

2021-08-12T23:04:00.995Z,1628809440.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:04:01.031Z,1628809441.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.120001 m, bearing: 323.763753 deg, deltaT: 4.440648 s, approachRate: 0.310766 m/s, LOS rate: 3.768515 deg/s, posRepo size: 4
2021-08-12T23:04:01.032Z,1628809441.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.12 m. Rolling out.
2021-08-12T23:04:01.032Z,1628809441.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T23:04:03.381Z,1628809443.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:03.729Z,1628809443.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:03.729Z,1628809443.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:03.729Z,1628809443.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:03.730Z,1628809443.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:04.131Z,1628809444.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0036D,186,80,80,72,FF
2021-08-12T23:04:04.131Z,1628809444.131 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:04.131Z,1628809444.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:04.135Z,1628809444.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:04.559Z,1628809444.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:04.994Z,1628809444.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEC,000,0037E,188,80,80,4F,FF
2021-08-12T23:04:04.995Z,1628809444.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:05.084Z,1628809445.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:05.377Z,1628809445.377 [Micromodem](INFO): Nmea in: $SNTTA,0.055278,,,,230405.66*4D

2021-08-12T23:04:05.407Z,1628809445.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 349.245085 deg, deltaT: 4.523781 s, approachRate: 0.225475 m/s, LOS rate: 5.632751 deg/s, posRepo size: 4
2021-08-12T23:04:07.807Z,1628809447.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:08.173Z,1628809448.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:08.173Z,1628809448.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:08.173Z,1628809448.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:08.174Z,1628809448.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:08.579Z,1628809448.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEC,000,0037E,188,80,80,4F,FF
2021-08-12T23:04:08.579Z,1628809448.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:08.579Z,1628809448.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:08.581Z,1628809448.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:08.000Z,1628809449.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:09.381Z,1628809449.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00388,186,80,80,6F,FF
2021-08-12T23:04:09.381Z,1628809449.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:09.441Z,1628809449.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:09.835Z,1628809449.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230410.10*5B

2021-08-12T23:04:09.869Z,1628809449.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 9.249884 deg, deltaT: 4.356815 s, approachRate: 0.137715 m/s, LOS rate: 4.591610 deg/s, posRepo size: 4
2021-08-12T23:04:11.032Z,1628809451.032 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:04:12.255Z,1628809452.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:12.617Z,1628809452.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:12.617Z,1628809452.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:12.617Z,1628809452.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:12.618Z,1628809452.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:13.017Z,1628809453.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00388,186,80,80,6F,FF
2021-08-12T23:04:13.017Z,1628809453.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:13.017Z,1628809453.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:13.019Z,1628809453.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:13.429Z,1628809453.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:13.825Z,1628809453.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,0038C,188,80,80,A7,FF
2021-08-12T23:04:13.826Z,1628809453.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:13.847Z,1628809453.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:14.273Z,1628809454.273 [Micromodem](INFO): Nmea in: $SNTTA,0.056109,,,,230414.54*4A

2021-08-12T23:04:14.314Z,1628809454.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 35.745624 deg, deltaT: 4.407052 s, approachRate: 0.054459 m/s, LOS rate: 6.012123 deg/s, posRepo size: 4
2021-08-12T23:04:16.277Z,1628809456.277 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-12T23:04:16.671Z,1628809456.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:17.065Z,1628809457.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:17.065Z,1628809457.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:17.065Z,1628809457.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:17.066Z,1628809457.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:17.466Z,1628809457.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,0038C,188,80,80,A7,FF
2021-08-12T23:04:17.466Z,1628809457.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:17.466Z,1628809457.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:17.467Z,1628809457.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:17.871Z,1628809457.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:18.277Z,1628809458.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,0038A,188,80,80,96,FF
2021-08-12T23:04:18.278Z,1628809458.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:18.343Z,1628809458.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:18.714Z,1628809458.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230418.99*52

2021-08-12T23:04:18.735Z,1628809458.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 65.627545 deg, deltaT: 4.495048 s, approachRate: -0.026696 m/s, LOS rate: 6.647742 deg/s, posRepo size: 4
2021-08-12T23:04:21.126Z,1628809461.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-12T23:04:21.130Z,1628809461.130 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:04:21.145Z,1628809461.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:21.501Z,1628809461.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:21.501Z,1628809461.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:21.501Z,1628809461.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:21.502Z,1628809461.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:21.925Z,1628809461.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,0038A,188,80,80,96,FF
2021-08-12T23:04:21.925Z,1628809461.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:21.926Z,1628809461.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:21.932Z,1628809461.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:22.312Z,1628809462.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:22.742Z,1628809462.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00380,18A,80,80,A2,FF
2021-08-12T23:04:22.743Z,1628809462.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:22.769Z,1628809462.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:23.131Z,1628809463.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230423.45*5B

2021-08-12T23:04:23.190Z,1628809463.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 109.525123 deg, deltaT: 4.426189 s, approachRate: -0.135557 m/s, LOS rate: 9.917692 deg/s, posRepo size: 4
2021-08-12T23:04:25.558Z,1628809465.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:25.996Z,1628809465.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:25.996Z,1628809465.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:25.996Z,1628809465.996 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:25.997Z,1628809465.997 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:26.349Z,1628809466.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00380,18A,80,80,A2,FF
2021-08-12T23:04:26.349Z,1628809466.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:26.349Z,1628809466.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:26.351Z,1628809466.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:26.761Z,1628809466.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:27.169Z,1628809467.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C74,000,00370,189,80,80,70,FF
2021-08-12T23:04:27.169Z,1628809467.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:27.254Z,1628809467.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:27.606Z,1628809467.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230427.87*51

2021-08-12T23:04:27.627Z,1628809467.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 109.884042 deg, deltaT: 4.484969 s, approachRate: -0.214049 m/s, LOS rate: 0.080027 deg/s, posRepo size: 4
2021-08-12T23:04:30.033Z,1628809470.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:30.389Z,1628809470.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:30.389Z,1628809470.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:30.390Z,1628809470.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:30.391Z,1628809470.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:30.793Z,1628809470.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C74,000,00370,189,80,80,70,FF
2021-08-12T23:04:30.793Z,1628809470.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:30.793Z,1628809470.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:30.795Z,1628809470.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:31.200Z,1628809471.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:31.609Z,1628809471.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,00353,189,80,80,77,FF
2021-08-12T23:04:31.610Z,1628809471.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:31.629Z,1628809471.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:32.057Z,1628809472.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230432.32*5B

2021-08-12T23:04:32.095Z,1628809472.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 121.986263 deg, deltaT: 4.374959 s, approachRate: -0.397718 m/s, LOS rate: 2.766248 deg/s, posRepo size: 4
2021-08-12T23:04:34.497Z,1628809474.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:34.837Z,1628809474.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:34.837Z,1628809474.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:34.837Z,1628809474.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:34.838Z,1628809474.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:35.241Z,1628809475.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF3,000,00353,189,80,80,77,FF
2021-08-12T23:04:35.241Z,1628809475.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:35.241Z,1628809475.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:35.243Z,1628809475.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:35.650Z,1628809475.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:36.045Z,1628809476.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,00338,186,80,80,A9,FF
2021-08-12T23:04:36.045Z,1628809476.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:36.099Z,1628809476.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:36.489Z,1628809476.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230436.76*5F

2021-08-12T23:04:36.511Z,1628809476.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 126.654370 deg, deltaT: 4.469538 s, approachRate: -0.362453 m/s, LOS rate: 1.044427 deg/s, posRepo size: 4
2021-08-12T23:04:38.963Z,1628809478.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:39.301Z,1628809479.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:39.301Z,1628809479.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:39.301Z,1628809479.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:39.302Z,1628809479.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:39.681Z,1628809479.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,00338,186,80,80,A9,FF
2021-08-12T23:04:39.681Z,1628809479.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:39.681Z,1628809479.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:39.683Z,1628809479.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:40.096Z,1628809480.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:40.489Z,1628809480.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00310,187,80,80,9C,FF
2021-08-12T23:04:40.489Z,1628809480.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:40.541Z,1628809480.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:40.997Z,1628809480.997 [Micromodem](INFO): Nmea in: $SNTTA,0.028673,,,,230441.20*4A

2021-08-12T23:04:41.046Z,1628809481.046 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:04:41.059Z,1628809481.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 134.796187 deg, deltaT: 4.442548 s, approachRate: -0.540231 m/s, LOS rate: 1.832691 deg/s, posRepo size: 4
2021-08-12T23:04:43.351Z,1628809483.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:43.730Z,1628809483.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:43.730Z,1628809483.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:43.730Z,1628809483.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:43.731Z,1628809483.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:44.133Z,1628809484.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00310,187,80,80,9C,FF
2021-08-12T23:04:44.133Z,1628809484.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:44.133Z,1628809484.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:44.135Z,1628809484.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:44.529Z,1628809484.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:44.977Z,1628809484.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00301,186,80,80,D2,FF
2021-08-12T23:04:44.978Z,1628809484.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:45.067Z,1628809485.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:45.393Z,1628809485.393 [Micromodem](INFO): Nmea in: $SNTTA,0.023881,,,,230445.65*47

2021-08-12T23:04:45.415Z,1628809485.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 137.136224 deg, deltaT: 4.525394 s, approachRate: -0.198878 m/s, LOS rate: 0.517090 deg/s, posRepo size: 4
2021-08-12T23:04:47.787Z,1628809487.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:48.169Z,1628809488.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:48.169Z,1628809488.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:48.169Z,1628809488.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:48.170Z,1628809488.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:48.569Z,1628809488.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00301,186,80,80,D2,FF
2021-08-12T23:04:48.569Z,1628809488.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:48.569Z,1628809488.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:48.571Z,1628809488.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:48.984Z,1628809488.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:49.381Z,1628809489.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,002D1,188,80,80,8A,FF
2021-08-12T23:04:49.381Z,1628809489.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:49.478Z,1628809489.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:49.825Z,1628809489.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230450.09*57

2021-08-12T23:04:49.890Z,1628809489.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 95.630571 deg, deltaT: 4.411657 s, approachRate: -0.652816 m/s, LOS rate: -9.408177 deg/s, posRepo size: 4
2021-08-12T23:04:52.241Z,1628809492.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:52.605Z,1628809492.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:52.605Z,1628809492.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:52.605Z,1628809492.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:52.606Z,1628809492.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:53.029Z,1628809493.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,002D1,188,80,80,8A,FF
2021-08-12T23:04:53.029Z,1628809493.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:53.029Z,1628809493.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:53.031Z,1628809493.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:53.438Z,1628809493.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:53.833Z,1628809493.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,002C3,184,80,80,9E,FF
2021-08-12T23:04:53.834Z,1628809493.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:53.935Z,1628809493.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:54.276Z,1628809494.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 126.015788 deg, deltaT: 4.456756 s, approachRate: -0.188478 m/s, LOS rate: 6.817788 deg/s, posRepo size: 4
2021-08-12T23:04:56.679Z,1628809496.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:04:57.076Z,1628809497.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:04:57.076Z,1628809497.076 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:04:57.076Z,1628809497.076 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:04:57.077Z,1628809497.077 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:04:57.473Z,1628809497.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,002C3,184,80,80,9E,FF
2021-08-12T23:04:57.473Z,1628809497.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:04:57.473Z,1628809497.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:04:57.475Z,1628809497.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:04:57.890Z,1628809497.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:04:58.269Z,1628809498.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,002D9,187,80,80,3E,FF
2021-08-12T23:04:58.269Z,1628809498.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:04:58.324Z,1628809498.324 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:04:58.721Z,1628809498.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230459.00*57

2021-08-12T23:04:58.743Z,1628809498.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 147.633924 deg, deltaT: 4.389165 s, approachRate: 0.300741 m/s, LOS rate: 4.925342 deg/s, posRepo size: 4
2021-08-12T23:05:01.170Z,1628809501.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:01.501Z,1628809501.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:01.501Z,1628809501.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:01.501Z,1628809501.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:01.502Z,1628809501.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:01.917Z,1628809501.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,002D9,187,80,80,3E,FF
2021-08-12T23:05:01.918Z,1628809501.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:01.918Z,1628809501.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:01.926Z,1628809501.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:02.321Z,1628809502.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:02.713Z,1628809502.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,0030D,187,80,80,91,FF
2021-08-12T23:05:02.714Z,1628809502.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:02.782Z,1628809502.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:03.150Z,1628809503.150 [Micromodem](INFO): Nmea in: $SNTTA,0.031608,,,,230503.44*4B

2021-08-12T23:05:03.215Z,1628809503.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 115.147810 deg, deltaT: 4.458065 s, approachRate: 0.699855 m/s, LOS rate: -7.287043 deg/s, posRepo size: 4
2021-08-12T23:05:05.570Z,1628809505.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:05.990Z,1628809505.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:05.990Z,1628809505.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:05.991Z,1628809505.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:05.992Z,1628809505.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:06.349Z,1628809506.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,0030D,187,80,80,91,FF
2021-08-12T23:05:06.349Z,1628809506.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:06.349Z,1628809506.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:06.351Z,1628809506.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:06.757Z,1628809506.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:07.157Z,1628809507.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,0033C,186,80,80,53,FF
2021-08-12T23:05:07.157Z,1628809507.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:07.178Z,1628809507.178 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:05:07.241Z,1628809507.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:07.598Z,1628809507.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230507.87*52

2021-08-12T23:05:07.647Z,1628809507.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 130.961610 deg, deltaT: 4.458812 s, approachRate: 0.632455 m/s, LOS rate: 3.546640 deg/s, posRepo size: 4
2021-08-12T23:05:10.040Z,1628809510.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:10.389Z,1628809510.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:10.389Z,1628809510.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:10.389Z,1628809510.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:10.390Z,1628809510.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:10.797Z,1628809510.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,0033C,186,80,80,53,FF
2021-08-12T23:05:10.797Z,1628809510.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:10.798Z,1628809510.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:10.799Z,1628809510.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:11.213Z,1628809511.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:11.601Z,1628809511.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,0036F,188,80,80,4B,FF
2021-08-12T23:05:11.601Z,1628809511.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:11.645Z,1628809511.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:12.046Z,1628809512.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230512.32*58

2021-08-12T23:05:12.071Z,1628809512.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 148.807446 deg, deltaT: 4.403877 s, approachRate: 0.694843 m/s, LOS rate: 4.052301 deg/s, posRepo size: 4
2021-08-12T23:05:14.467Z,1628809514.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:14.833Z,1628809514.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:14.833Z,1628809514.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:14.833Z,1628809514.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:14.834Z,1628809514.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:15.237Z,1628809515.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,0036F,188,80,80,4B,FF
2021-08-12T23:05:15.237Z,1628809515.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:15.237Z,1628809515.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:15.239Z,1628809515.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:15.375Z,1628809515.375 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:05:15.645Z,1628809515.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:16.050Z,1628809516.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,0038B,186,80,80,4E,FF
2021-08-12T23:05:16.050Z,1628809516.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:16.081Z,1628809516.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:16.489Z,1628809516.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230516.76*5C

2021-08-12T23:05:16.508Z,1628809516.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 143.708573 deg, deltaT: 4.435732 s, approachRate: 0.378742 m/s, LOS rate: -1.149500 deg/s, posRepo size: 4
2021-08-12T23:05:18.964Z,1628809518.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:19.277Z,1628809519.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:19.277Z,1628809519.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:19.277Z,1628809519.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:19.278Z,1628809519.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:19.681Z,1628809519.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,0038B,186,80,80,4E,FF
2021-08-12T23:05:19.681Z,1628809519.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:19.681Z,1628809519.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:19.683Z,1628809519.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:20.097Z,1628809520.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:20.501Z,1628809520.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,003BB,186,80,80,9F,FF
2021-08-12T23:05:20.501Z,1628809520.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:20.546Z,1628809520.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:20.979Z,1628809520.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230521.20*5B

2021-08-12T23:05:21.066Z,1628809521.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 140.586412 deg, deltaT: 4.464848 s, approachRate: 0.645039 m/s, LOS rate: -0.699276 deg/s, posRepo size: 4
2021-08-12T23:05:23.069Z,1628809523.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:23.317Z,1628809523.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:23.317Z,1628809523.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:23.317Z,1628809523.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:23.318Z,1628809523.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:23.729Z,1628809523.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,003BB,186,80,80,9F,FF
2021-08-12T23:05:23.729Z,1628809523.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:23.729Z,1628809523.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:23.731Z,1628809523.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:24.128Z,1628809524.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:24.533Z,1628809524.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,003E8,186,80,80,65,FF
2021-08-12T23:05:24.534Z,1628809524.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:24.578Z,1628809524.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:24.997Z,1628809524.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230525.25*5A

2021-08-12T23:05:25.030Z,1628809525.030 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-12T23:05:25.054Z,1628809525.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 133.898878 deg, deltaT: 4.032287 s, approachRate: 0.669595 m/s, LOS rate: -1.658497 deg/s, posRepo size: 4
2021-08-12T23:05:27.385Z,1628809527.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:27.761Z,1628809527.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:27.761Z,1628809527.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:27.761Z,1628809527.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:27.762Z,1628809527.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:28.165Z,1628809528.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,003E8,186,80,80,65,FF
2021-08-12T23:05:28.165Z,1628809528.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:28.165Z,1628809528.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:28.167Z,1628809528.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:28.577Z,1628809528.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:28.985Z,1628809528.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,005EC,186,80,80,2C,FF
2021-08-12T23:05:28.986Z,1628809528.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:29.080Z,1628809529.080 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:29.413Z,1628809529.413 [Micromodem](INFO): Nmea in: $SNTTA,0.105081,,,,230529.69*4D

2021-08-12T23:05:29.435Z,1628809529.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 111.735386 deg, deltaT: 4.502315 s, approachRate: 6.876463 m/s, LOS rate: -4.922688 deg/s, posRepo size: 4
2021-08-12T23:05:29.825Z,1628809529.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T23:05:29.825Z,1628809529.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:29.825Z,1628809529.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T23:05:29.826Z,1628809529.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T23:05:29.826Z,1628809529.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T23:05:29.826Z,1628809529.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T23:05:30.223Z,1628809530.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T23:05:30.223Z,1628809530.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:30.223Z,1628809530.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T23:05:30.223Z,1628809530.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:31.823Z,1628809531.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:32.209Z,1628809532.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:32.209Z,1628809532.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:32.209Z,1628809532.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:32.210Z,1628809532.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:32.613Z,1628809532.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,005EC,186,80,80,2C,FF
2021-08-12T23:05:32.613Z,1628809532.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:32.613Z,1628809532.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:32.615Z,1628809532.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:33.025Z,1628809533.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:33.421Z,1628809533.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00455,186,80,80,2E,FF
2021-08-12T23:05:33.421Z,1628809533.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:33.874Z,1628809533.874 [Micromodem](INFO): Nmea in: $SNTTA,0.042283,,,,230534.13*4E

2021-08-12T23:05:33.896Z,1628809533.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 140.011515 deg, deltaT: 4.396896 s, approachRate: -5.553918 m/s, LOS rate: 6.430930 deg/s, posRepo size: 4
2021-08-12T23:05:34.288Z,1628809534.288 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T23:05:34.288Z,1628809534.288 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:05:34.288Z,1628809534.288 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T23:05:34.289Z,1628809534.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T23:05:34.289Z,1628809534.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T23:05:34.289Z,1628809534.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T23:05:34.655Z,1628809534.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T23:05:34.655Z,1628809534.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:05:34.655Z,1628809534.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T23:05:34.655Z,1628809534.655 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:05:36.281Z,1628809536.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:36.661Z,1628809536.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:36.661Z,1628809536.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:36.661Z,1628809536.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:36.662Z,1628809536.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:37.053Z,1628809537.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00455,186,80,80,2E,FF
2021-08-12T23:05:37.053Z,1628809537.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:37.054Z,1628809537.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:37.055Z,1628809537.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:37.456Z,1628809537.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:37.858Z,1628809537.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,0047B,187,80,80,41,FF
2021-08-12T23:05:37.859Z,1628809537.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:37.951Z,1628809537.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:38.308Z,1628809538.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230538.57*53

2021-08-12T23:05:38.334Z,1628809538.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 135.373257 deg, deltaT: 4.478594 s, approachRate: 0.509089 m/s, LOS rate: -1.035651 deg/s, posRepo size: 4
2021-08-12T23:05:40.723Z,1628809540.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:41.101Z,1628809541.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:41.101Z,1628809541.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:41.101Z,1628809541.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:41.102Z,1628809541.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:41.497Z,1628809541.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,0047B,187,80,80,41,FF
2021-08-12T23:05:41.497Z,1628809541.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:41.497Z,1628809541.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:41.499Z,1628809541.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:41.936Z,1628809541.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:42.309Z,1628809542.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,004B3,183,80,80,45,FF
2021-08-12T23:05:42.309Z,1628809542.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:42.329Z,1628809542.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:42.741Z,1628809542.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230543.02*5F

2021-08-12T23:05:42.772Z,1628809542.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 122.366814 deg, deltaT: 4.373500 s, approachRate: 0.768263 m/s, LOS rate: -2.973921 deg/s, posRepo size: 4
2021-08-12T23:05:45.191Z,1628809545.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:45.537Z,1628809545.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:45.537Z,1628809545.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:45.537Z,1628809545.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:45.538Z,1628809545.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:45.949Z,1628809545.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,004B3,183,80,80,45,FF
2021-08-12T23:05:45.949Z,1628809545.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:45.949Z,1628809545.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:45.951Z,1628809545.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:46.357Z,1628809546.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:46.749Z,1628809546.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,004E4,182,80,80,58,FF
2021-08-12T23:05:46.750Z,1628809546.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:46.769Z,1628809546.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:47.173Z,1628809547.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230547.48*55

2021-08-12T23:05:47.234Z,1628809547.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 122.086585 deg, deltaT: 4.439738 s, approachRate: 0.662202 m/s, LOS rate: -0.063118 deg/s, posRepo size: 4
2021-08-12T23:05:49.272Z,1628809549.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:49.585Z,1628809549.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:49.585Z,1628809549.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:49.585Z,1628809549.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:49.586Z,1628809549.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:50.001Z,1628809550.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,004E4,182,80,80,58,FF
2021-08-12T23:05:50.001Z,1628809550.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:50.001Z,1628809550.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:50.003Z,1628809550.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:50.392Z,1628809550.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:50.805Z,1628809550.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00510,183,80,80,74,FF
2021-08-12T23:05:50.806Z,1628809550.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:50.877Z,1628809550.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:05:51.225Z,1628809551.225 [Micromodem](INFO): Nmea in: $SNTTA,0.040069,,,,230551.52*4C

2021-08-12T23:05:51.290Z,1628809551.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 122.941274 deg, deltaT: 4.108874 s, approachRate: 0.642511 m/s, LOS rate: 0.208010 deg/s, posRepo size: 4
2021-08-12T23:05:51.649Z,1628809551.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T23:05:51.650Z,1628809551.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:51.650Z,1628809551.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T23:05:51.650Z,1628809551.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T23:05:51.650Z,1628809551.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T23:05:51.650Z,1628809551.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T23:05:52.035Z,1628809552.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T23:05:52.035Z,1628809552.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:52.035Z,1628809552.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T23:05:52.035Z,1628809552.035 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:05:53.643Z,1628809553.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:54.034Z,1628809554.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:05:54.034Z,1628809554.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:05:54.035Z,1628809554.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:05:54.036Z,1628809554.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:05:54.425Z,1628809554.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00510,183,80,80,74,FF
2021-08-12T23:05:54.425Z,1628809554.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:05:54.426Z,1628809554.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:05:54.427Z,1628809554.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:05:54.853Z,1628809554.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:05:55.682Z,1628809555.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230555.95*56

2021-08-12T23:05:56.490Z,1628809556.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:05:56.850Z,1628809556.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,05596,187,80,80,36,FF
2021-08-12T23:05:56.850Z,1628809556.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:05:57.335Z,1628809557.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1277.099976 m, bearing: 130.711926 deg, deltaT: 6.081969 s, approachRate: 203.361771 m/s, LOS rate: 1.277654 deg/s, posRepo size: 4
2021-08-12T23:05:57.336Z,1628809557.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1277.10 m. Resuming terminal guidance.
2021-08-12T23:05:57.336Z,1628809557.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T23:05:59.724Z,1628809559.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:00.085Z,1628809560.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:00.085Z,1628809560.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:00.085Z,1628809560.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:00.086Z,1628809560.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:00.482Z,1628809560.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,05596,187,80,80,36,FF
2021-08-12T23:06:00.482Z,1628809560.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:00.483Z,1628809560.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:00.486Z,1628809560.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:00.943Z,1628809560.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:01.721Z,1628809561.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,0185F,183,80,80,6D,FF
2021-08-12T23:06:01.721Z,1628809561.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:01.725Z,1628809561.725 [Micromodem](INFO): Nmea in: $SNTTA,0.235919,,,,230602.01*41

2021-08-12T23:06:02.166Z,1628809562.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.839996 m, bearing: 121.815714 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T23:06:02.184Z,1628809562.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 121.815714deg and heading rate command to 0 deg/s.
2021-08-12T23:06:04.550Z,1628809564.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:04.981Z,1628809564.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:04.981Z,1628809564.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:04.981Z,1628809564.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:04.982Z,1628809564.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:05.333Z,1628809565.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,0185F,183,80,80,6D,FF
2021-08-12T23:06:05.333Z,1628809565.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:05.333Z,1628809565.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:05.335Z,1628809565.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:05.741Z,1628809565.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:06.147Z,1628809566.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,005BE,186,80,80,A0,FF
2021-08-12T23:06:06.147Z,1628809566.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:06.581Z,1628809566.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230606.86*51

2021-08-12T23:06:06.623Z,1628809566.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 134.145803 deg, deltaT: 4.476084 s, approachRate: -63.926418 m/s, LOS rate: 2.754660 deg/s, posRepo size: 2
2021-08-12T23:06:06.626Z,1628809566.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.699997 m,
      bearing: 134.145803 deg,
      approachRate: -63.926418 m/s,
      LOS rate: 2.754660 deg/s,
      cmd update: 8.263981 deg/s,
      cmd heading: 121.815714 deg,
      new cmd heading: 121.815714 deg.

2021-08-12T23:06:09.065Z,1628809569.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:09.377Z,1628809569.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:09.377Z,1628809569.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:09.377Z,1628809569.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:09.378Z,1628809569.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:09.777Z,1628809569.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,005BE,186,80,80,A0,FF
2021-08-12T23:06:09.777Z,1628809569.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:09.777Z,1628809569.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:09.779Z,1628809569.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:10.193Z,1628809570.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:10.597Z,1628809570.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,005F1,187,80,80,64,FF
2021-08-12T23:06:10.598Z,1628809570.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:11.049Z,1628809571.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230611.30*5A

2021-08-12T23:06:11.144Z,1628809571.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 153.641321 deg, deltaT: 4.454421 s, approachRate: 0.686957 m/s, LOS rate: 4.376667 deg/s, posRepo size: 3
2021-08-12T23:06:11.146Z,1628809571.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.759995 m,
      bearing: 153.641321 deg,
      approachRate: 0.686957 m/s,
      LOS rate: 4.376667 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 158.679051 deg,
      new cmd heading: 162.555511 deg.

2021-08-12T23:06:13.446Z,1628809573.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:13.825Z,1628809573.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:13.825Z,1628809573.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:13.825Z,1628809573.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:13.826Z,1628809573.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:14.221Z,1628809574.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,005F1,187,80,80,64,FF
2021-08-12T23:06:14.221Z,1628809574.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:14.221Z,1628809574.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:14.223Z,1628809574.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:14.644Z,1628809574.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:15.458Z,1628809575.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230615.74*5E

2021-08-12T23:06:16.279Z,1628809576.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:17.870Z,1628809577.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:17.870Z,1628809577.870 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:17.870Z,1628809577.870 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:06:19.126Z,1628809579.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:19.477Z,1628809579.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:19.477Z,1628809579.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:19.477Z,1628809579.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:19.478Z,1628809579.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:19.878Z,1628809579.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:19.878Z,1628809579.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:19.879Z,1628809579.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:19.887Z,1628809579.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:20.292Z,1628809580.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:21.130Z,1628809581.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230621.41*5F

2021-08-12T23:06:21.953Z,1628809581.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:23.517Z,1628809583.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:23.517Z,1628809583.517 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:23.518Z,1628809583.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:06:24.758Z,1628809584.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:25.137Z,1628809585.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:25.137Z,1628809585.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:25.137Z,1628809585.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:25.138Z,1628809585.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:25.160Z,1628809585.160 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:06:25.538Z,1628809585.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:25.538Z,1628809585.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:25.538Z,1628809585.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:25.540Z,1628809585.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:25.965Z,1628809585.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:26.770Z,1628809586.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230627.06*5A

2021-08-12T23:06:27.587Z,1628809587.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:29.173Z,1628809589.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:29.174Z,1628809589.174 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:29.174Z,1628809589.174 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:06:29.219Z,1628809589.219 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:06:30.404Z,1628809590.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:30.785Z,1628809590.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:30.785Z,1628809590.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:30.785Z,1628809590.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:30.786Z,1628809590.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:31.193Z,1628809591.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:31.193Z,1628809591.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:31.194Z,1628809591.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:31.195Z,1628809591.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:31.605Z,1628809591.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:32.433Z,1628809592.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230632.72*5D

2021-08-12T23:06:33.284Z,1628809593.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:34.837Z,1628809594.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:34.837Z,1628809594.837 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:34.837Z,1628809594.837 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:06:36.254Z,1628809596.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:36.437Z,1628809596.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:36.437Z,1628809596.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:36.437Z,1628809596.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:36.438Z,1628809596.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:36.858Z,1628809596.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:36.858Z,1628809596.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:36.858Z,1628809596.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:36.865Z,1628809596.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:37.260Z,1628809597.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:38.073Z,1628809598.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230638.39*58

2021-08-12T23:06:38.961Z,1628809598.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:40.481Z,1628809600.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:40.482Z,1628809600.482 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:40.482Z,1628809600.482 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:06:40.959Z,1628809600.959 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:06:41.740Z,1628809601.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:42.109Z,1628809602.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:42.109Z,1628809602.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:42.109Z,1628809602.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:42.110Z,1628809602.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:42.501Z,1628809602.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,64,FF
2021-08-12T23:06:42.501Z,1628809602.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:42.502Z,1628809602.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:42.503Z,1628809602.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:42.992Z,1628809602.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:43.321Z,1628809603.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00656,186,80,80,66,FF
2021-08-12T23:06:43.322Z,1628809603.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:43.757Z,1628809603.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230644.03*5A

2021-08-12T23:06:43.787Z,1628809603.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 217.327713 deg, deltaT: 32.668256 s, approachRate: 0.185501 m/s, LOS rate: 1.949489 deg/s, posRepo size: 4
2021-08-12T23:06:43.789Z,1628809603.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.820000 m,
      bearing: 217.327713 deg,
      approachRate: 0.185501 m/s,
      LOS rate: 1.949489 deg/s,
      cmd update: 5.848466 deg/s,
      cmd heading: 190.697952 deg,
      new cmd heading: 196.079508 deg.

2021-08-12T23:06:46.169Z,1628809606.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:46.553Z,1628809606.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:46.553Z,1628809606.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:46.553Z,1628809606.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:46.554Z,1628809606.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:46.985Z,1628809606.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00656,186,80,80,66,FF
2021-08-12T23:06:46.985Z,1628809606.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:46.985Z,1628809606.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:46.987Z,1628809606.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:47.357Z,1628809607.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:47.761Z,1628809607.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,00664,189,80,80,95,FF
2021-08-12T23:06:47.762Z,1628809607.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:48.187Z,1628809608.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230648.51*51

2021-08-12T23:06:48.236Z,1628809608.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 236.152725 deg, deltaT: 4.444732 s, approachRate: 0.188988 m/s, LOS rate: 4.235354 deg/s, posRepo size: 4
2021-08-12T23:06:48.238Z,1628809608.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 236.152725 deg,
      approachRate: 0.188988 m/s,
      LOS rate: 4.235354 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.692469 deg,
      new cmd heading: 219.291533 deg.

2021-08-12T23:06:50.599Z,1628809610.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:51.009Z,1628809611.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:51.009Z,1628809611.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:51.009Z,1628809611.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:51.010Z,1628809611.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:51.389Z,1628809611.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,00664,189,80,80,95,FF
2021-08-12T23:06:51.389Z,1628809611.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:51.389Z,1628809611.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:51.391Z,1628809611.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:51.804Z,1628809611.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:52.201Z,1628809612.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00676,188,80,80,A8,FF
2021-08-12T23:06:52.201Z,1628809612.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:52.633Z,1628809612.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230652.91*56

2021-08-12T23:06:52.667Z,1628809612.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 238.368985 deg, deltaT: 4.468812 s, approachRate: 0.241675 m/s, LOS rate: 0.495939 deg/s, posRepo size: 4
2021-08-12T23:06:52.669Z,1628809612.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 238.368985 deg,
      approachRate: 0.241675 m/s,
      LOS rate: 0.495939 deg/s,
      cmd update: 1.487818 deg/s,
      cmd heading: 270.031283 deg,
      new cmd heading: 275.289767 deg.

2021-08-12T23:06:55.093Z,1628809615.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:55.433Z,1628809615.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:55.433Z,1628809615.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:55.433Z,1628809615.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:55.434Z,1628809615.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:06:55.858Z,1628809615.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00676,188,80,80,A8,FF
2021-08-12T23:06:55.858Z,1628809615.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:06:55.858Z,1628809615.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:06:55.861Z,1628809615.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:06:56.240Z,1628809616.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:06:56.647Z,1628809616.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9F,000,0067E,189,80,80,90,FF
2021-08-12T23:06:56.647Z,1628809616.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:06:57.073Z,1628809617.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230657.38*50

2021-08-12T23:06:57.129Z,1628809617.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 257.598426 deg, deltaT: 4.441917 s, approachRate: 0.108063 m/s, LOS rate: 4.329086 deg/s, posRepo size: 4
2021-08-12T23:06:57.131Z,1628809617.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.220009 m,
      bearing: 257.598426 deg,
      approachRate: 0.108063 m/s,
      LOS rate: 4.329086 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.639978 deg,
      new cmd heading: 277.322684 deg.

2021-08-12T23:06:59.491Z,1628809619.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:06:59.882Z,1628809619.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:06:59.882Z,1628809619.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:06:59.882Z,1628809619.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:06:59.883Z,1628809619.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:00.278Z,1628809620.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9F,000,0067E,189,80,80,90,FF
2021-08-12T23:07:00.278Z,1628809620.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:00.278Z,1628809620.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:00.280Z,1628809620.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:00.690Z,1628809620.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:01.117Z,1628809621.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA9,000,0067D,189,80,80,92,FF
2021-08-12T23:07:01.118Z,1628809621.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:01.556Z,1628809621.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 286.730467 deg, deltaT: 4.515471 s, approachRate: -0.013289 m/s, LOS rate: 6.451606 deg/s, posRepo size: 4
2021-08-12T23:07:01.558Z,1628809621.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.160004 m,
      bearing: 286.730467 deg,
      approachRate: -0.013289 m/s,
      LOS rate: 6.451606 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.066100 deg,
      new cmd heading: 335.266604 deg.

2021-08-12T23:07:04.022Z,1628809624.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:04.321Z,1628809624.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:04.321Z,1628809624.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:04.321Z,1628809624.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:04.322Z,1628809624.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:04.727Z,1628809624.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA9,000,0067D,189,80,80,92,FF
2021-08-12T23:07:04.727Z,1628809624.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:04.727Z,1628809624.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:04.729Z,1628809624.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:05.136Z,1628809625.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:05.537Z,1628809625.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0066E,189,80,80,B8,FF
2021-08-12T23:07:05.538Z,1628809625.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:06.000Z,1628809626.000 [Micromodem](INFO): Nmea in: $SNTTA,0.046231,,,,230706.25*45

2021-08-12T23:07:06.025Z,1628809626.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 325.882068 deg, deltaT: 4.353533 s, approachRate: -0.206730 m/s, LOS rate: 8.993064 deg/s, posRepo size: 4
2021-08-12T23:07:06.027Z,1628809626.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.259998 m,
      bearing: 325.882068 deg,
      approachRate: -0.206730 m/s,
      LOS rate: 8.993064 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 23.317245 deg,
      new cmd heading: 28.901913 deg.

2021-08-12T23:07:08.378Z,1628809628.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:08.761Z,1628809628.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:08.761Z,1628809628.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:08.761Z,1628809628.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:08.762Z,1628809628.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:09.174Z,1628809629.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0066E,189,80,80,B8,FF
2021-08-12T23:07:09.175Z,1628809629.175 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:09.175Z,1628809629.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:09.176Z,1628809629.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:09.572Z,1628809629.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:09.997Z,1628809629.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB5,000,00650,189,80,80,AC,FF
2021-08-12T23:07:09.997Z,1628809629.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:10.409Z,1628809630.409 [Micromodem](INFO): Nmea in: $SNTTA,0.050084,,,,230710.70*49

2021-08-12T23:07:10.457Z,1628809630.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 327.953582 deg, deltaT: 4.511085 s, approachRate: -0.399016 m/s, LOS rate: 0.459205 deg/s, posRepo size: 4
2021-08-12T23:07:10.460Z,1628809630.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.460003 m,
      bearing: 327.953582 deg,
      approachRate: -0.399016 m/s,
      LOS rate: 0.459205 deg/s,
      cmd update: 1.377616 deg/s,
      cmd heading: 77.489807 deg,
      new cmd heading: 82.061207 deg.

2021-08-12T23:07:11.215Z,1628809631.215 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:07:12.826Z,1628809632.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:13.213Z,1628809633.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:13.213Z,1628809633.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:13.213Z,1628809633.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:13.214Z,1628809633.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:13.605Z,1628809633.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB5,000,00650,189,80,80,AC,FF
2021-08-12T23:07:13.605Z,1628809633.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:13.605Z,1628809633.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:13.607Z,1628809633.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:14.029Z,1628809634.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:14.422Z,1628809634.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,0062B,189,80,80,94,FF
2021-08-12T23:07:14.422Z,1628809634.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:14.874Z,1628809634.874 [Micromodem](INFO): Nmea in: $SNTTA,0.047769,,,,230715.13*4B

2021-08-12T23:07:14.971Z,1628809634.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 340.149240 deg, deltaT: 4.368883 s, approachRate: -0.508138 m/s, LOS rate: 2.791482 deg/s, posRepo size: 4
2021-08-12T23:07:14.977Z,1628809634.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.240005 m,
      bearing: 340.149240 deg,
      approachRate: -0.508138 m/s,
      LOS rate: 2.791482 deg/s,
      cmd update: 8.374445 deg/s,
      cmd heading: 83.508425 deg,
      new cmd heading: 84.234893 deg.

2021-08-12T23:07:16.957Z,1628809636.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:17.249Z,1628809637.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:17.249Z,1628809637.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:17.249Z,1628809637.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:17.250Z,1628809637.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:17.652Z,1628809637.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,0062B,189,80,80,94,FF
2021-08-12T23:07:17.652Z,1628809637.652 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:17.653Z,1628809637.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:17.654Z,1628809637.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:18.069Z,1628809638.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:18.453Z,1628809638.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F18,000,00606,187,80,80,AD,FF
2021-08-12T23:07:18.454Z,1628809638.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:18.923Z,1628809638.923 [Micromodem](INFO): Nmea in: $SNTTA,0.048152,,,,230719.18*4D

2021-08-12T23:07:18.994Z,1628809638.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.019997 m, bearing: 337.435251 deg, deltaT: 4.057413 s, approachRate: -0.547149 m/s, LOS rate: -0.668896 deg/s, posRepo size: 4
2021-08-12T23:07:18.997Z,1628809638.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.019997 m,
      bearing: 337.435251 deg,
      approachRate: -0.547149 m/s,
      LOS rate: -0.668896 deg/s,
      cmd update: -2.006690 deg/s,
      cmd heading: 117.232074 deg,
      new cmd heading: 121.620527 deg.

2021-08-12T23:07:21.021Z,1628809641.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:21.289Z,1628809641.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:21.289Z,1628809641.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:21.289Z,1628809641.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:21.290Z,1628809641.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:21.689Z,1628809641.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F18,000,00606,187,80,80,AD,FF
2021-08-12T23:07:21.689Z,1628809641.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:21.689Z,1628809641.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:21.691Z,1628809641.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:22.092Z,1628809642.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:22.497Z,1628809642.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,005DE,186,80,80,A3,FF
2021-08-12T23:07:22.498Z,1628809642.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:22.965Z,1628809642.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230723.21*5A

2021-08-12T23:07:23.047Z,1628809643.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 335.750298 deg, deltaT: 4.013769 s, approachRate: -0.597940 m/s, LOS rate: -0.419793 deg/s, posRepo size: 4
2021-08-12T23:07:23.053Z,1628809643.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.620003 m,
      bearing: 335.750298 deg,
      approachRate: -0.597940 m/s,
      LOS rate: -0.419793 deg/s,
      cmd update: -1.259380 deg/s,
      cmd heading: 109.116749 deg,
      new cmd heading: 108.047826 deg.

2021-08-12T23:07:25.030Z,1628809645.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:25.321Z,1628809645.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:25.321Z,1628809645.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:25.321Z,1628809645.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:25.322Z,1628809645.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:25.732Z,1628809645.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,005DE,186,80,80,A3,FF
2021-08-12T23:07:25.732Z,1628809645.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:25.732Z,1628809645.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:25.734Z,1628809645.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:26.148Z,1628809646.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:26.533Z,1628809646.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,005B8,188,80,80,88,FF
2021-08-12T23:07:26.533Z,1628809646.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:26.997Z,1628809646.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230727.26*59

2021-08-12T23:07:27.070Z,1628809647.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 335.629103 deg, deltaT: 4.035409 s, approachRate: -0.564999 m/s, LOS rate: -0.030033 deg/s, posRepo size: 4
2021-08-12T23:07:27.076Z,1628809647.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 335.629103 deg,
      approachRate: -0.564999 m/s,
      LOS rate: -0.030033 deg/s,
      cmd update: -0.090099 deg/s,
      cmd heading: 104.034676 deg,
      new cmd heading: 103.379668 deg.

2021-08-12T23:07:29.006Z,1628809649.006 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:07:29.072Z,1628809649.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:29.361Z,1628809649.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:29.361Z,1628809649.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:29.362Z,1628809649.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:29.363Z,1628809649.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:29.765Z,1628809649.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,005B8,188,80,80,88,FF
2021-08-12T23:07:29.765Z,1628809649.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:29.765Z,1628809649.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:29.767Z,1628809649.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:30.182Z,1628809650.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:30.577Z,1628809650.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43C,000,00BEB,18A,80,80,C8,FF
2021-08-12T23:07:30.578Z,1628809650.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:31.025Z,1628809651.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230731.29*51

2021-08-12T23:07:31.137Z,1628809651.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 331.132270 deg, deltaT: 4.075502 s, approachRate: 23.363997 m/s, LOS rate: -1.103381 deg/s, posRepo size: 4
2021-08-12T23:07:31.139Z,1628809651.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.560013 m,
      bearing: 331.132270 deg,
      approachRate: 23.363997 m/s,
      LOS rate: -1.103381 deg/s,
      cmd update: -3.310144 deg/s,
      cmd heading: 103.667507 deg,
      new cmd heading: 103.621785 deg.

2021-08-12T23:07:33.430Z,1628809653.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:33.805Z,1628809653.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:33.805Z,1628809653.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:33.805Z,1628809653.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:33.806Z,1628809653.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:34.213Z,1628809654.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43C,000,00BEB,18A,80,80,C8,FF
2021-08-12T23:07:34.213Z,1628809654.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:34.213Z,1628809654.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:34.215Z,1628809654.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:34.622Z,1628809654.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:35.017Z,1628809655.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057D,189,80,80,B7,FF
2021-08-12T23:07:35.018Z,1628809655.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:35.465Z,1628809655.465 [Micromodem](INFO): Nmea in: $SNTTA,0.045695,,,,230735.73*4F

2021-08-12T23:07:35.487Z,1628809655.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 339.661264 deg, deltaT: 4.496074 s, approachRate: -21.965834 m/s, LOS rate: 1.896987 deg/s, posRepo size: 4
2021-08-12T23:07:35.489Z,1628809655.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 339.661264 deg,
      approachRate: -21.965834 m/s,
      LOS rate: 1.896987 deg/s,
      cmd update: 5.690961 deg/s,
      cmd heading: 88.796798 deg,
      new cmd heading: 87.572690 deg.

2021-08-12T23:07:37.888Z,1628809657.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:38.249Z,1628809658.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:38.249Z,1628809658.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:38.249Z,1628809658.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:38.250Z,1628809658.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:38.661Z,1628809658.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057D,189,80,80,B7,FF
2021-08-12T23:07:38.661Z,1628809658.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:38.661Z,1628809658.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:38.663Z,1628809658.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:39.065Z,1628809659.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:39.465Z,1628809659.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00571,188,80,80,86,FF
2021-08-12T23:07:39.465Z,1628809659.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:39.912Z,1628809659.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230740.19*54

2021-08-12T23:07:39.964Z,1628809659.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 99.824267 deg, deltaT: 4.385361 s, approachRate: -0.164183 m/s, LOS rate: 27.400935 deg/s, posRepo size: 4
2021-08-12T23:07:39.965Z,1628809659.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.400935 deg/s. Setting heading cmd to target bearing of 99.824267deg and heading rate command to 0 deg/s.
2021-08-12T23:07:42.330Z,1628809662.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:42.693Z,1628809662.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:42.693Z,1628809662.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:42.693Z,1628809662.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:42.694Z,1628809662.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:43.090Z,1628809663.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00571,188,80,80,86,FF
2021-08-12T23:07:43.091Z,1628809663.091 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:43.091Z,1628809663.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:43.093Z,1628809663.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:43.513Z,1628809663.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:43.941Z,1628809663.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD3,000,0057E,18A,80,80,30,FF
2021-08-12T23:07:43.942Z,1628809663.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:44.342Z,1628809664.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230744.61*5F

2021-08-12T23:07:44.364Z,1628809664.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 135.430289 deg, deltaT: 4.486559 s, approachRate: 0.173852 m/s, LOS rate: 7.936154 deg/s, posRepo size: 4
2021-08-12T23:07:44.366Z,1628809664.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 135.430289 deg,
      approachRate: 0.173852 m/s,
      LOS rate: 7.936154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 99.824267 deg,
      new cmd heading: 99.824267 deg.

2021-08-12T23:07:46.766Z,1628809666.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:47.160Z,1628809667.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:47.160Z,1628809667.160 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:47.160Z,1628809667.160 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:47.161Z,1628809667.161 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:47.545Z,1628809667.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD3,000,0057E,18A,80,80,30,FF
2021-08-12T23:07:47.545Z,1628809667.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:47.545Z,1628809667.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:47.547Z,1628809667.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:47.981Z,1628809667.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:48.345Z,1628809668.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,00590,189,80,80,A7,FF
2021-08-12T23:07:48.345Z,1628809668.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:48.794Z,1628809668.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230749.07*52

2021-08-12T23:07:48.815Z,1628809668.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.940006 m, bearing: 72.319928 deg, deltaT: 4.369416 s, approachRate: 0.247174 m/s, LOS rate: -14.443661 deg/s, posRepo size: 4
2021-08-12T23:07:48.816Z,1628809668.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.443661 deg/s. Setting heading cmd to target bearing of 72.319928deg and heading rate command to 0 deg/s.
2021-08-12T23:07:51.362Z,1628809671.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:51.586Z,1628809671.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:51.586Z,1628809671.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:51.587Z,1628809671.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:51.587Z,1628809671.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:52.000Z,1628809672.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,00590,189,80,80,A7,FF
2021-08-12T23:07:52.001Z,1628809672.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:52.001Z,1628809672.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:52.002Z,1628809672.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:52.392Z,1628809672.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:52.801Z,1628809672.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA6,000,005BA,189,80,80,65,FF
2021-08-12T23:07:52.801Z,1628809672.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:53.217Z,1628809673.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230753.52*59

2021-08-12T23:07:53.284Z,1628809673.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.459995 m, bearing: 161.413722 deg, deltaT: 4.455151 s, approachRate: 0.565635 m/s, LOS rate: 19.997930 deg/s, posRepo size: 4
2021-08-12T23:07:53.285Z,1628809673.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.997930 deg/s. Setting heading cmd to target bearing of 161.413722deg and heading rate command to 0 deg/s.
2021-08-12T23:07:55.648Z,1628809675.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:07:56.043Z,1628809676.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:07:56.043Z,1628809676.043 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:07:56.043Z,1628809676.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:07:56.044Z,1628809676.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:07:56.425Z,1628809676.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA6,000,005BA,189,80,80,65,FF
2021-08-12T23:07:56.425Z,1628809676.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:07:56.425Z,1628809676.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:07:56.427Z,1628809676.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:07:56.851Z,1628809676.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:07:57.234Z,1628809677.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,248,000,005DE,189,80,80,80,FF
2021-08-12T23:07:57.234Z,1628809677.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:07:57.689Z,1628809677.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230757.95*56

2021-08-12T23:07:57.711Z,1628809677.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 103.055499 deg, deltaT: 4.507478 s, approachRate: 0.479205 m/s, LOS rate: -12.946979 deg/s, posRepo size: 4
2021-08-12T23:07:57.732Z,1628809677.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.946979 deg/s. Setting heading cmd to target bearing of 103.055499deg and heading rate command to 0 deg/s.
2021-08-12T23:08:00.140Z,1628809680.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:00.473Z,1628809680.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:00.473Z,1628809680.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:00.473Z,1628809680.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:00.474Z,1628809680.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:00.885Z,1628809680.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
248,000,005DE,189,80,80,80,FF
2021-08-12T23:08:00.886Z,1628809680.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:00.886Z,1628809680.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:00.894Z,1628809680.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:01.285Z,1628809681.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:01.713Z,1628809681.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0060A,186,80,80,7A,FF
2021-08-12T23:08:01.714Z,1628809681.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:02.112Z,1628809682.112 [Micromodem](INFO): Nmea in: $SNTTA,0.214003,,,,230802.43*48

2021-08-12T23:08:02.150Z,1628809682.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 153.147663 deg, deltaT: 4.458334 s, approachRate: 0.592148 m/s, LOS rate: 11.235624 deg/s, posRepo size: 4
2021-08-12T23:08:02.152Z,1628809682.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.259998 m,
      bearing: 153.147663 deg,
      approachRate: 0.592148 m/s,
      LOS rate: 11.235624 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.055499 deg,
      new cmd heading: 103.055499 deg.

2021-08-12T23:08:04.539Z,1628809684.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:04.977Z,1628809684.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:04.977Z,1628809684.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:04.977Z,1628809684.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:04.978Z,1628809684.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:05.313Z,1628809685.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0060A,186,80,80,7A,FF
2021-08-12T23:08:05.313Z,1628809685.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:05.314Z,1628809685.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:05.315Z,1628809685.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:05.726Z,1628809685.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:06.143Z,1628809686.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0063D,186,80,80,8E,FF
2021-08-12T23:08:06.143Z,1628809686.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:06.563Z,1628809686.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230806.84*5D

2021-08-12T23:08:06.614Z,1628809686.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 160.447824 deg, deltaT: 4.431427 s, approachRate: 0.690522 m/s, LOS rate: 1.647361 deg/s, posRepo size: 4
2021-08-12T23:08:06.618Z,1628809686.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.319996 m,
      bearing: 160.447824 deg,
      approachRate: 0.690522 m/s,
      LOS rate: 1.647361 deg/s,
      cmd update: 4.942083 deg/s,
      cmd heading: 156.228509 deg,
      new cmd heading: 160.764065 deg.

2021-08-12T23:08:09.081Z,1628809689.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:09.353Z,1628809689.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:09.354Z,1628809689.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:09.354Z,1628809689.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:09.355Z,1628809689.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:09.765Z,1628809689.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,0063D,186,80,80,8E,FF
2021-08-12T23:08:09.765Z,1628809689.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:09.765Z,1628809689.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:09.767Z,1628809689.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:10.164Z,1628809690.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:10.565Z,1628809690.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0066E,186,80,80,93,FF
2021-08-12T23:08:10.565Z,1628809690.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:11.017Z,1628809691.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230811.29*5C

2021-08-12T23:08:11.094Z,1628809691.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 156.246041 deg, deltaT: 4.366950 s, approachRate: 0.673239 m/s, LOS rate: -0.962178 deg/s, posRepo size: 4
2021-08-12T23:08:11.101Z,1628809691.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.259998 m,
      bearing: 156.246041 deg,
      approachRate: 0.673239 m/s,
      LOS rate: -0.962178 deg/s,
      cmd update: -2.886533 deg/s,
      cmd heading: 177.811407 deg,
      new cmd heading: 180.343429 deg.

2021-08-12T23:08:13.107Z,1628809693.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:13.401Z,1628809693.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:13.401Z,1628809693.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:13.401Z,1628809693.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:13.402Z,1628809693.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:13.805Z,1628809693.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0066E,186,80,80,93,FF
2021-08-12T23:08:13.805Z,1628809693.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:13.805Z,1628809693.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:13.807Z,1628809693.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:14.224Z,1628809694.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:15.034Z,1628809695.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230815.33*53

2021-08-12T23:08:15.862Z,1628809695.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:17.441Z,1628809697.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,93,FF
2021-08-12T23:08:17.441Z,1628809697.441 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,93,FF
2021-08-12T23:08:17.441Z,1628809697.441 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:08:18.675Z,1628809698.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:19.069Z,1628809699.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:19.069Z,1628809699.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:19.069Z,1628809699.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:19.070Z,1628809699.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:19.461Z,1628809699.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,93,FF
2021-08-12T23:08:19.461Z,1628809699.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:19.462Z,1628809699.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:19.463Z,1628809699.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:19.871Z,1628809699.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:20.273Z,1628809700.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,006D0,186,80,80,7D,FF
2021-08-12T23:08:20.273Z,1628809700.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:20.715Z,1628809700.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230820.99*55

2021-08-12T23:08:20.739Z,1628809700.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.140007 m, bearing: 180.720945 deg, deltaT: 9.754621 s, approachRate: 0.602792 m/s, LOS rate: 2.509057 deg/s, posRepo size: 4
2021-08-12T23:08:20.741Z,1628809700.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 180.720945 deg,
      approachRate: 0.602792 m/s,
      LOS rate: 2.509057 deg/s,
      cmd update: 7.527172 deg/s,
      cmd heading: 149.678963 deg,
      new cmd heading: 148.493231 deg.

2021-08-12T23:08:23.163Z,1628809703.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:23.501Z,1628809703.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:23.501Z,1628809703.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:23.501Z,1628809703.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:23.502Z,1628809703.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:23.933Z,1628809703.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,006D0,186,80,80,7D,FF
2021-08-12T23:08:23.933Z,1628809703.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:23.934Z,1628809703.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:23.944Z,1628809703.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:24.317Z,1628809704.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:24.717Z,1628809704.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,006F5,187,80,80,61,FF
2021-08-12T23:08:24.717Z,1628809704.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:25.131Z,1628809705.131 [Micromodem](INFO): Nmea in: $SNTTA,0.055924,0.372737,,,230825.46*58

2021-08-12T23:08:25.200Z,1628809705.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 168.995068 deg, deltaT: 4.397611 s, approachRate: 0.504818 m/s, LOS rate: -2.666420 deg/s, posRepo size: 4
2021-08-12T23:08:25.202Z,1628809705.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.360001 m,
      bearing: 168.995068 deg,
      approachRate: 0.504818 m/s,
      LOS rate: -2.666420 deg/s,
      cmd update: -7.999260 deg/s,
      cmd heading: 182.843911 deg,
      new cmd heading: 186.304438 deg.

2021-08-12T23:08:27.563Z,1628809707.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:27.981Z,1628809707.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:27.981Z,1628809707.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:27.981Z,1628809707.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:27.982Z,1628809707.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:28.361Z,1628809708.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,006F5,187,80,80,61,FF
2021-08-12T23:08:28.361Z,1628809708.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:28.361Z,1628809708.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:28.363Z,1628809708.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:28.752Z,1628809708.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:29.161Z,1628809709.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,0071F,186,80,80,99,FF
2021-08-12T23:08:29.162Z,1628809709.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:29.605Z,1628809709.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230829.88*5C

2021-08-12T23:08:29.627Z,1628809709.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 183.120869 deg, deltaT: 4.518428 s, approachRate: 0.557717 m/s, LOS rate: 3.126264 deg/s, posRepo size: 4
2021-08-12T23:08:29.629Z,1628809709.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.880005 m,
      bearing: 183.120869 deg,
      approachRate: 0.557717 m/s,
      LOS rate: 3.126264 deg/s,
      cmd update: 9.378793 deg/s,
      cmd heading: 146.766330 deg,
      new cmd heading: 143.703693 deg.

2021-08-12T23:08:32.030Z,1628809712.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:32.391Z,1628809712.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:32.391Z,1628809712.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:32.391Z,1628809712.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:32.392Z,1628809712.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:32.797Z,1628809712.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,0071F,186,80,80,99,FF
2021-08-12T23:08:32.797Z,1628809712.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:32.797Z,1628809712.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:32.799Z,1628809712.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:33.200Z,1628809713.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:33.605Z,1628809713.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,0074D,186,80,80,96,FF
2021-08-12T23:08:33.605Z,1628809713.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:34.054Z,1628809714.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230834.32*51

2021-08-12T23:08:34.083Z,1628809714.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 191.831969 deg, deltaT: 4.369529 s, approachRate: 0.631646 m/s, LOS rate: 1.993602 deg/s, posRepo size: 4
2021-08-12T23:08:34.086Z,1628809714.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 191.831969 deg,
      approachRate: 0.631646 m/s,
      LOS rate: 1.993602 deg/s,
      cmd update: 5.980805 deg/s,
      cmd heading: 187.826199 deg,
      new cmd heading: 192.149344 deg.

2021-08-12T23:08:36.457Z,1628809716.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:36.837Z,1628809716.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:36.837Z,1628809716.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:36.837Z,1628809716.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:36.838Z,1628809716.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:37.245Z,1628809717.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,0074D,186,80,80,96,FF
2021-08-12T23:08:37.245Z,1628809717.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:37.245Z,1628809717.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:37.247Z,1628809717.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:37.364Z,1628809717.364 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-12T23:08:37.364Z,1628809717.364 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-12T23:08:37.364Z,1628809717.364 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-12T23:08:37.393Z,1628809717.393 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-12T23:08:37.393Z,1628809717.393 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-12T23:08:37.393Z,1628809717.393 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-12T23:08:37.588Z,1628809717.588 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-12T23:08:37.588Z,1628809717.588 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-12T23:08:37.666Z,1628809717.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:37.748Z,1628809717.748 [RDI_Pathfinder](INFO): Powering down
2021-08-12T23:08:37.820Z,1628809717.820 [RDI_PathfinderUp](INFO): Powering down
2021-08-12T23:08:38.037Z,1628809718.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00772,187,80,80,B1,FF
2021-08-12T23:08:38.038Z,1628809718.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:38.469Z,1628809718.469 [Micromodem](INFO): Nmea in: $SNTTA,0.064848,,,,230838.77*44

2021-08-12T23:08:38.491Z,1628809718.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 171.210590 deg, deltaT: 4.437090 s, approachRate: 0.500330 m/s, LOS rate: -4.647501 deg/s, posRepo size: 4
2021-08-12T23:08:38.514Z,1628809718.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 171.210590 deg,
      approachRate: 0.500330 m/s,
      LOS rate: -4.647501 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.363466 deg,
      new cmd heading: 216.946013 deg.

2021-08-12T23:08:38.672Z,1628809718.672 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-12T23:08:38.672Z,1628809718.672 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-12T23:08:38.672Z,1628809718.672 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-12T23:08:38.672Z,1628809718.672 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-12T23:08:40.889Z,1628809720.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:41.269Z,1628809721.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:41.269Z,1628809721.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:41.269Z,1628809721.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:41.270Z,1628809721.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:41.693Z,1628809721.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00772,187,80,80,B1,FF
2021-08-12T23:08:41.693Z,1628809721.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:41.693Z,1628809721.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:41.695Z,1628809721.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:42.085Z,1628809722.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:42.485Z,1628809722.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,007A4,186,80,80,83,FF
2021-08-12T23:08:42.485Z,1628809722.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:42.934Z,1628809722.934 [Micromodem](INFO): Nmea in: $SNTTA,0.064379,,,,230843.22*41

2021-08-12T23:08:42.949Z,1628809722.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 195.731679 deg, deltaT: 4.442071 s, approachRate: 0.675359 m/s, LOS rate: 5.520193 deg/s, posRepo size: 4
2021-08-12T23:08:42.951Z,1628809722.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.860001 m,
      bearing: 195.731679 deg,
      approachRate: 0.675359 m/s,
      LOS rate: 5.520193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 161.058133 deg,
      new cmd heading: 155.695404 deg.

2021-08-12T23:08:45.334Z,1628809725.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:45.717Z,1628809725.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:45.717Z,1628809725.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:45.717Z,1628809725.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:45.718Z,1628809725.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:46.117Z,1628809726.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,007A4,186,80,80,83,FF
2021-08-12T23:08:46.117Z,1628809726.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:46.117Z,1628809726.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:46.119Z,1628809726.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:46.550Z,1628809726.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:46.933Z,1628809726.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA9,000,007C7,189,80,80,9E,FF
2021-08-12T23:08:46.933Z,1628809726.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:47.365Z,1628809727.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230847.64*56

2021-08-12T23:08:47.403Z,1628809727.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.960007 m, bearing: 219.452120 deg, deltaT: 4.493015 s, approachRate: 0.467394 m/s, LOS rate: 5.279404 deg/s, posRepo size: 4
2021-08-12T23:08:47.405Z,1628809727.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.960007 m,
      bearing: 219.452120 deg,
      approachRate: 0.467394 m/s,
      LOS rate: 5.279404 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.974086 deg,
      new cmd heading: 219.878078 deg.

2021-08-12T23:08:49.790Z,1628809729.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:50.169Z,1628809730.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:50.169Z,1628809730.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:50.169Z,1628809730.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:50.170Z,1628809730.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:50.573Z,1628809730.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA9,000,007C7,189,80,80,9E,FF
2021-08-12T23:08:50.573Z,1628809730.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:50.573Z,1628809730.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:50.575Z,1628809730.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:50.977Z,1628809730.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:51.381Z,1628809731.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,007EB,187,80,80,8E,FF
2021-08-12T23:08:51.382Z,1628809731.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:51.821Z,1628809731.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230852.10*51

2021-08-12T23:08:51.886Z,1628809731.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 214.037679 deg, deltaT: 4.431718 s, approachRate: 0.487393 m/s, LOS rate: -1.221748 deg/s, posRepo size: 4
2021-08-12T23:08:51.888Z,1628809731.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.119995 m,
      bearing: 214.037679 deg,
      approachRate: 0.487393 m/s,
      LOS rate: -1.221748 deg/s,
      cmd update: -3.665243 deg/s,
      cmd heading: 268.106632 deg,
      new cmd heading: 273.673840 deg.

2021-08-12T23:08:52.369Z,1628809732.369 [CTD_Seabird](ERROR): Failed to parse device response: 22,4856.24
2021-08-12T23:08:54.249Z,1628809734.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:54.629Z,1628809734.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:54.629Z,1628809734.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:54.629Z,1628809734.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:54.630Z,1628809734.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:55.045Z,1628809735.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,007EB,187,80,80,8E,FF
2021-08-12T23:08:55.045Z,1628809735.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:55.045Z,1628809735.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:55.047Z,1628809735.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:55.464Z,1628809735.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:08:55.827Z,1628809735.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0080F,186,80,80,76,FF
2021-08-12T23:08:55.827Z,1628809735.827 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:08:56.265Z,1628809736.265 [Micromodem](INFO): Nmea in: $SNTTA,0.059595,,,,230856.57*4D

2021-08-12T23:08:56.314Z,1628809736.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.280006 m, bearing: 226.015331 deg, deltaT: 4.426774 s, approachRate: 0.487943 m/s, LOS rate: 2.705729 deg/s, posRepo size: 4
2021-08-12T23:08:56.316Z,1628809736.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.280006 m,
      bearing: 226.015331 deg,
      approachRate: 0.487943 m/s,
      LOS rate: 2.705729 deg/s,
      cmd update: 8.117188 deg/s,
      cmd heading: 251.876834 deg,
      new cmd heading: 250.177477 deg.

2021-08-12T23:08:58.689Z,1628809738.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:08:59.053Z,1628809739.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:08:59.053Z,1628809739.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:08:59.053Z,1628809739.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:08:59.054Z,1628809739.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:08:59.471Z,1628809739.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,0080F,186,80,80,76,FF
2021-08-12T23:08:59.471Z,1628809739.471 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:08:59.471Z,1628809739.471 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:08:59.473Z,1628809739.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:08:59.880Z,1628809739.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:00.266Z,1628809740.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,00818,186,80,80,A9,FF
2021-08-12T23:09:00.267Z,1628809740.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:00.694Z,1628809740.694 [Micromodem](INFO): Nmea in: $SNTTA,0.471568,0.471381,,,230900.99*57

2021-08-12T23:09:00.731Z,1628809740.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.820000 m, bearing: 205.209728 deg, deltaT: 4.505125 s, approachRate: 0.119862 m/s, LOS rate: -4.618208 deg/s, posRepo size: 4
2021-08-12T23:09:00.734Z,1628809740.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.820000 m,
      bearing: 205.209728 deg,
      approachRate: 0.119862 m/s,
      LOS rate: -4.618208 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.370226 deg,
      new cmd heading: 291.498655 deg.

2021-08-12T23:09:03.165Z,1628809743.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:03.506Z,1628809743.506 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:03.506Z,1628809743.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:03.506Z,1628809743.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:03.508Z,1628809743.508 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:03.909Z,1628809743.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,00818,186,80,80,A9,FF
2021-08-12T23:09:03.909Z,1628809743.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:03.909Z,1628809743.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:03.911Z,1628809743.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:04.309Z,1628809744.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:04.709Z,1628809744.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,0081B,188,80,80,C5,FF
2021-08-12T23:09:04.709Z,1628809744.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:05.152Z,1628809745.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230905.43*54

2021-08-12T23:09:05.246Z,1628809745.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.000000 m, bearing: 281.668395 deg, deltaT: 4.367971 s, approachRate: 0.041209 m/s, LOS rate: 17.504390 deg/s, posRepo size: 4
2021-08-12T23:09:05.247Z,1628809745.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.504390 deg/s. Setting heading cmd to target bearing of 281.668395deg and heading rate command to 0 deg/s.
2021-08-12T23:09:07.570Z,1628809747.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:07.943Z,1628809747.943 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:07.945Z,1628809747.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:07.946Z,1628809747.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:07.947Z,1628809747.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:08.354Z,1628809748.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,0081B,188,80,80,C5,FF
2021-08-12T23:09:08.354Z,1628809748.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:08.354Z,1628809748.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:08.356Z,1628809748.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:08.752Z,1628809748.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:09.159Z,1628809749.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0080F,189,80,80,A7,FF
2021-08-12T23:09:09.159Z,1628809749.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:09.185Z,1628809749.185 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:09:09.605Z,1628809749.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230909.88*5F

2021-08-12T23:09:09.646Z,1628809749.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.280006 m, bearing: 327.762883 deg, deltaT: 4.492247 s, approachRate: -0.160275 m/s, LOS rate: 10.260898 deg/s, posRepo size: 4
2021-08-12T23:09:09.648Z,1628809749.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.280006 m,
      bearing: 327.762883 deg,
      approachRate: -0.160275 m/s,
      LOS rate: 10.260898 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.668395 deg,
      new cmd heading: 281.668395 deg.

2021-08-12T23:09:12.036Z,1628809752.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:12.393Z,1628809752.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:12.393Z,1628809752.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:12.394Z,1628809752.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:12.395Z,1628809752.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:12.789Z,1628809752.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0080F,189,80,80,A7,FF
2021-08-12T23:09:12.789Z,1628809752.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:12.789Z,1628809752.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:12.791Z,1628809752.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:13.196Z,1628809753.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:13.254Z,1628809753.254 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:09:13.605Z,1628809753.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007FE,189,80,80,A8,FF
2021-08-12T23:09:13.606Z,1628809753.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:14.049Z,1628809754.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230914.31*51

2021-08-12T23:09:14.112Z,1628809754.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 333.935352 deg, deltaT: 4.404196 s, approachRate: -0.231598 m/s, LOS rate: 1.401497 deg/s, posRepo size: 4
2021-08-12T23:09:14.115Z,1628809754.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.260002 m,
      bearing: 333.935352 deg,
      approachRate: -0.231598 m/s,
      LOS rate: 1.401497 deg/s,
      cmd update: 4.204492 deg/s,
      cmd heading: 334.774457 deg,
      new cmd heading: 340.590869 deg.

2021-08-12T23:09:16.452Z,1628809756.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:16.829Z,1628809756.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:16.829Z,1628809756.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:16.829Z,1628809756.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:16.830Z,1628809756.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:17.241Z,1628809757.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007FE,189,80,80,A8,FF
2021-08-12T23:09:17.241Z,1628809757.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:17.241Z,1628809757.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:17.243Z,1628809757.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:17.653Z,1628809757.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:18.057Z,1628809758.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5C,000,007E3,189,80,80,B0,FF
2021-08-12T23:09:18.057Z,1628809758.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:18.493Z,1628809758.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230918.77*5F

2021-08-12T23:09:18.508Z,1628809758.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.640007 m, bearing: 330.734425 deg, deltaT: 4.481872 s, approachRate: -0.361455 m/s, LOS rate: -0.714194 deg/s, posRepo size: 4
2021-08-12T23:09:18.510Z,1628809758.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.640007 m,
      bearing: 330.734425 deg,
      approachRate: -0.361455 m/s,
      LOS rate: -0.714194 deg/s,
      cmd update: -2.142583 deg/s,
      cmd heading: 353.618318 deg,
      new cmd heading: 355.315255 deg.

2021-08-12T23:09:20.908Z,1628809760.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:21.281Z,1628809761.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:21.281Z,1628809761.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:21.281Z,1628809761.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:21.282Z,1628809761.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:21.336Z,1628809761.336 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:09:21.681Z,1628809761.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5C,000,007E3,189,80,80,B0,FF
2021-08-12T23:09:21.681Z,1628809761.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:21.681Z,1628809761.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:21.683Z,1628809761.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:22.094Z,1628809762.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:22.493Z,1628809762.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,007C3,18A,80,80,95,FF
2021-08-12T23:09:22.493Z,1628809762.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:22.937Z,1628809762.937 [Micromodem](INFO): Nmea in: $SNTTA,0.083738,,,,230923.21*4D

2021-08-12T23:09:23.014Z,1628809763.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.720001 m, bearing: 339.769837 deg, deltaT: 4.433819 s, approachRate: -0.433037 m/s, LOS rate: 2.037839 deg/s, posRepo size: 4
2021-08-12T23:09:23.020Z,1628809763.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.720001 m,
      bearing: 339.769837 deg,
      approachRate: -0.433037 m/s,
      LOS rate: 2.037839 deg/s,
      cmd update: 6.113518 deg/s,
      cmd heading: 344.127456 deg,
      new cmd heading: 343.099342 deg.

2021-08-12T23:09:25.379Z,1628809765.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:25.717Z,1628809765.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:25.717Z,1628809765.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:25.717Z,1628809765.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:25.718Z,1628809765.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:26.117Z,1628809766.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,007C3,18A,80,80,95,FF
2021-08-12T23:09:26.117Z,1628809766.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:26.117Z,1628809766.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:26.119Z,1628809766.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:26.529Z,1628809766.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:26.950Z,1628809766.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,0079E,185,80,80,B3,FF
2021-08-12T23:09:26.956Z,1628809766.956 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:27.377Z,1628809767.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230927.64*51

2021-08-12T23:09:27.399Z,1628809767.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 350.434057 deg, deltaT: 4.535700 s, approachRate: -0.489449 m/s, LOS rate: 2.351174 deg/s, posRepo size: 4
2021-08-12T23:09:27.422Z,1628809767.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 350.434057 deg,
      approachRate: -0.489449 m/s,
      LOS rate: 2.351174 deg/s,
      cmd update: 7.053523 deg/s,
      cmd heading: 11.881699 deg,
      new cmd heading: 13.872003 deg.

2021-08-12T23:09:29.784Z,1628809769.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:30.161Z,1628809770.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:30.161Z,1628809770.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:30.161Z,1628809770.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:30.162Z,1628809770.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:30.573Z,1628809770.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,0079E,185,80,80,B3,FF
2021-08-12T23:09:30.573Z,1628809770.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:30.573Z,1628809770.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:30.575Z,1628809770.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:31.029Z,1628809771.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:31.385Z,1628809771.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00770,183,80,80,AA,FF
2021-08-12T23:09:31.385Z,1628809771.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:31.814Z,1628809771.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230932.10*56

2021-08-12T23:09:31.829Z,1628809771.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 347.149692 deg, deltaT: 4.348240 s, approachRate: -0.634742 m/s, LOS rate: -0.755332 deg/s, posRepo size: 4
2021-08-12T23:09:31.831Z,1628809771.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 347.149692 deg,
      approachRate: -0.634742 m/s,
      LOS rate: -0.755332 deg/s,
      cmd update: -2.265996 deg/s,
      cmd heading: 42.551177 deg,
      new cmd heading: 45.423259 deg.

2021-08-12T23:09:34.237Z,1628809774.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:34.609Z,1628809774.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:34.609Z,1628809774.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:34.610Z,1628809774.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:34.611Z,1628809774.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:35.045Z,1628809775.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00770,183,80,80,AA,FF
2021-08-12T23:09:35.045Z,1628809775.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:35.045Z,1628809775.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:35.047Z,1628809775.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:35.427Z,1628809775.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:35.821Z,1628809775.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,238,000,00740,189,80,80,9B,FF
2021-08-12T23:09:35.821Z,1628809775.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:36.317Z,1628809776.317 [Micromodem](INFO): Nmea in: $SNTTA,0.061321,,,,230936.57*48

2021-08-12T23:09:36.435Z,1628809776.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 342.262555 deg, deltaT: 4.457893 s, approachRate: -0.646044 m/s, LOS rate: -1.096288 deg/s, posRepo size: 4
2021-08-12T23:09:36.437Z,1628809776.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.860001 m,
      bearing: 342.262555 deg,
      approachRate: -0.646044 m/s,
      LOS rate: -1.096288 deg/s,
      cmd update: -3.288865 deg/s,
      cmd heading: 32.460222 deg,
      new cmd heading: 31.192440 deg.

2021-08-12T23:09:38.667Z,1628809778.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:39.053Z,1628809779.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:39.053Z,1628809779.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:39.053Z,1628809779.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:39.054Z,1628809779.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:39.461Z,1628809779.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
238,000,00740,189,80,80,9B,FF
2021-08-12T23:09:39.461Z,1628809779.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:39.461Z,1628809779.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:39.463Z,1628809779.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:39.875Z,1628809779.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:40.280Z,1628809780.280 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,00717,189,80,80,AA,FF
2021-08-12T23:09:40.281Z,1628809780.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:40.713Z,1628809780.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230940.98*53

2021-08-12T23:09:40.735Z,1628809780.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 339.943105 deg, deltaT: 4.431850 s, approachRate: -0.555073 m/s, LOS rate: -0.523359 deg/s, posRepo size: 4
2021-08-12T23:09:40.737Z,1628809780.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.400002 m,
      bearing: 339.943105 deg,
      approachRate: -0.555073 m/s,
      LOS rate: -0.523359 deg/s,
      cmd update: -1.570078 deg/s,
      cmd heading: 17.868535 deg,
      new cmd heading: 16.476006 deg.

2021-08-12T23:09:43.164Z,1628809783.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:43.508Z,1628809783.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:43.508Z,1628809783.508 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:43.509Z,1628809783.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:43.509Z,1628809783.509 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:43.913Z,1628809783.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,00717,189,80,80,AA,FF
2021-08-12T23:09:43.913Z,1628809783.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:43.913Z,1628809783.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:43.915Z,1628809783.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:44.309Z,1628809784.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:44.713Z,1628809784.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F1,000,006F6,189,80,80,84,FF
2021-08-12T23:09:44.713Z,1628809784.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:45.153Z,1628809785.153 [Micromodem](INFO): Nmea in: $SNTTA,0.083645,,,,230945.44*45

2021-08-12T23:09:45.226Z,1628809785.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 342.305722 deg, deltaT: 4.418479 s, approachRate: -0.448117 m/s, LOS rate: 0.534713 deg/s, posRepo size: 4
2021-08-12T23:09:45.232Z,1628809785.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.420006 m,
      bearing: 342.305722 deg,
      approachRate: -0.448117 m/s,
      LOS rate: 0.534713 deg/s,
      cmd update: 1.604138 deg/s,
      cmd heading: 10.931077 deg,
      new cmd heading: 10.153383 deg.

2021-08-12T23:09:47.567Z,1628809787.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:47.957Z,1628809787.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:47.957Z,1628809787.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:47.957Z,1628809787.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:47.958Z,1628809787.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:48.354Z,1628809788.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F1,000,006F6,189,80,80,84,FF
2021-08-12T23:09:48.354Z,1628809788.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:48.354Z,1628809788.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:48.356Z,1628809788.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:48.753Z,1628809788.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:49.165Z,1628809789.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,006D0,189,80,80,B5,FF
2021-08-12T23:09:49.165Z,1628809789.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:49.602Z,1628809789.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230949.88*5B

2021-08-12T23:09:49.627Z,1628809789.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.140007 m, bearing: 340.718823 deg, deltaT: 4.523924 s, approachRate: -0.503987 m/s, LOS rate: -0.350779 deg/s, posRepo size: 4
2021-08-12T23:09:49.630Z,1628809789.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 340.718823 deg,
      approachRate: -0.503987 m/s,
      LOS rate: -0.350779 deg/s,
      cmd update: -1.052338 deg/s,
      cmd heading: 18.181446 deg,
      new cmd heading: 18.786525 deg.

2021-08-12T23:09:52.034Z,1628809792.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:52.393Z,1628809792.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:52.394Z,1628809792.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:52.394Z,1628809792.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:52.395Z,1628809792.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:52.793Z,1628809792.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,006D0,189,80,80,B5,FF
2021-08-12T23:09:52.793Z,1628809792.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:52.794Z,1628809792.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:52.795Z,1628809792.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:53.208Z,1628809793.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:53.260Z,1628809793.260 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:09:53.597Z,1628809793.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,006A1,189,80,80,A7,FF
2021-08-12T23:09:53.597Z,1628809793.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:54.053Z,1628809794.053 [Micromodem](INFO): Nmea in: $SNTTA,0.060936,,,,230954.32*42

2021-08-12T23:09:54.079Z,1628809794.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 336.238629 deg, deltaT: 4.457614 s, approachRate: -0.632627 m/s, LOS rate: -1.005066 deg/s, posRepo size: 4
2021-08-12T23:09:54.081Z,1628809794.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.320000 m,
      bearing: 336.238629 deg,
      approachRate: -0.632627 m/s,
      LOS rate: -1.005066 deg/s,
      cmd update: -3.015197 deg/s,
      cmd heading: 13.486253 deg,
      new cmd heading: 13.100399 deg.

2021-08-12T23:09:56.474Z,1628809796.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:09:56.829Z,1628809796.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:09:56.829Z,1628809796.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:09:56.829Z,1628809796.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:09:56.830Z,1628809796.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:09:57.250Z,1628809797.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,006A1,189,80,80,A7,FF
2021-08-12T23:09:57.251Z,1628809797.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:09:57.251Z,1628809797.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:09:57.254Z,1628809797.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:09:57.645Z,1628809797.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:09:58.059Z,1628809798.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,394,000,00677,189,80,80,AC,FF
2021-08-12T23:09:58.059Z,1628809798.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:09:58.477Z,1628809798.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230958.77*5B

2021-08-12T23:09:58.499Z,1628809798.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 334.806666 deg, deltaT: 4.399480 s, approachRate: -0.572793 m/s, LOS rate: -0.325485 deg/s, posRepo size: 4
2021-08-12T23:09:58.502Z,1628809798.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 334.806666 deg,
      approachRate: -0.572793 m/s,
      LOS rate: -0.325485 deg/s,
      cmd update: -0.976454 deg/s,
      cmd heading: 0.281214 deg,
      new cmd heading: 359.050749 deg.

2021-08-12T23:10:00.907Z,1628809800.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:01.282Z,1628809801.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:01.282Z,1628809801.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:01.282Z,1628809801.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:01.283Z,1628809801.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:01.685Z,1628809801.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
394,000,00677,189,80,80,AC,FF
2021-08-12T23:10:01.685Z,1628809801.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:01.685Z,1628809801.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:01.687Z,1628809801.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:02.101Z,1628809802.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:02.489Z,1628809802.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,0064D,189,80,80,A8,FF
2021-08-12T23:10:02.489Z,1628809802.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:02.953Z,1628809802.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231003.21*5E

2021-08-12T23:10:03.047Z,1628809803.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 337.960438 deg, deltaT: 4.420796 s, approachRate: -0.570034 m/s, LOS rate: 0.713394 deg/s, posRepo size: 4
2021-08-12T23:10:03.049Z,1628809803.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.280003 m,
      bearing: 337.960438 deg,
      approachRate: -0.570034 m/s,
      LOS rate: 0.713394 deg/s,
      cmd update: 2.140183 deg/s,
      cmd heading: 355.944974 deg,
      new cmd heading: 355.442399 deg.

2021-08-12T23:10:05.412Z,1628809805.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:05.729Z,1628809805.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:05.729Z,1628809805.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:05.729Z,1628809805.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:05.730Z,1628809805.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:06.158Z,1628809806.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,0064D,189,80,80,A8,FF
2021-08-12T23:10:06.158Z,1628809806.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:06.159Z,1628809806.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:06.237Z,1628809806.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:06.529Z,1628809806.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:06.946Z,1628809806.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00624,18A,80,80,8C,FF
2021-08-12T23:10:06.947Z,1628809806.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:07.381Z,1628809807.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 333.079175 deg, deltaT: 4.554329 s, approachRate: -0.540145 m/s, LOS rate: -1.071785 deg/s, posRepo size: 4
2021-08-12T23:10:07.383Z,1628809807.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 333.079175 deg,
      approachRate: -0.540145 m/s,
      LOS rate: -1.071785 deg/s,
      cmd update: -3.215356 deg/s,
      cmd heading: 5.692149 deg,
      new cmd heading: 6.285953 deg.

2021-08-12T23:10:07.753Z,1628809807.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231007.76*58

2021-08-12T23:10:09.408Z,1628809809.408 [lineCaptureDepth](INFO): Timed out from 2021-08-12T22:30:09.3Z
2021-08-12T23:10:09.408Z,1628809809.408 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-12T23:10:09.408Z,1628809809.408 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-12T23:10:09.408Z,1628809809.408 [lineCaptureDepth] Stopped
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science] Stopped
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science:B] Stopped
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science:C] Stopped
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-12T23:10:09.409Z,1628809809.409 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-12T23:10:09.410Z,1628809809.410 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-12T23:10:09.410Z,1628809809.410 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-12T23:10:09.410Z,1628809809.410 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-12T23:10:09.410Z,1628809809.410 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-12T23:10:09.411Z,1628809809.411 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-12T23:10:09.416Z,1628809809.416 [lineCaptureDepth:TrackAC.] Stopped
2021-08-12T23:10:09.416Z,1628809809.416 [lineCaptureDepth:LineCapture] Stopped
2021-08-12T23:10:09.416Z,1628809809.416 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-12T23:10:09.416Z,1628809809.416 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-12T23:10:09.416Z,1628809809.416 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-12T23:10:09.417Z,1628809809.417 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-12T23:10:09.418Z,1628809809.418 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T23:10:09.418Z,1628809809.418 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-12T23:10:09.418Z,1628809809.418 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-12T23:10:09.418Z,1628809809.418 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-12T23:10:09.419Z,1628809809.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-12T23:10:09.419Z,1628809809.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-12T23:10:09.419Z,1628809809.419 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-12T23:10:09.419Z,1628809809.419 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-12T23:10:09.419Z,1628809809.419 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-12T23:10:09.424Z,1628809809.424 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-12T23:10:09.424Z,1628809809.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-12T23:10:09.424Z,1628809809.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T23:10:09.424Z,1628809809.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-12T23:10:09.424Z,1628809809.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T23:10:09.425Z,1628809809.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-12T23:10:09.425Z,1628809809.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-12T23:10:09.425Z,1628809809.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-12T23:10:09.425Z,1628809809.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-12T23:10:09.425Z,1628809809.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:Lap] Stopped
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:Lap:B] Stopped
2021-08-12T23:10:09.426Z,1628809809.426 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-12T23:10:09.736Z,1628809809.736 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-12T23:10:09.806Z,1628809809.806 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-12T23:10:09.807Z,1628809809.807 [DefaultWithUndock] Running Loop=1
2021-08-12T23:10:09.807Z,1628809809.807 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-12T23:10:09.807Z,1628809809.807 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-12T23:10:09.807Z,1628809809.807 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:10:40.093Z,1628809840.093 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:A.Wait] Stopped
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-12T23:10:40.094Z,1628809840.094 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T23:10:40.884Z,1628809840.884 [PowerOnly](INFO): Powering up loadControl
2021-08-12T23:10:43.064Z,1628809843.064 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:43.361Z,1628809843.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:43.361Z,1628809843.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:43.361Z,1628809843.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:43.362Z,1628809843.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:43.383Z,1628809843.383 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-12T23:10:43.745Z,1628809843.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00624,18A,80,80,8C,FF
2021-08-12T23:10:43.745Z,1628809843.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:43.745Z,1628809843.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:43.747Z,1628809843.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:43.835Z,1628809843.835 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-12T23:10:44.156Z,1628809844.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:44.205Z,1628809844.205 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-12T23:10:44.557Z,1628809844.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,341,000,0057C,188,80,80,B2,FF
2021-08-12T23:10:44.558Z,1628809844.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:44.575Z,1628809844.575 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-12T23:10:45.009Z,1628809845.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231045.27*5A

2021-08-12T23:10:47.087Z,1628809847.087 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:47.385Z,1628809847.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:47.385Z,1628809847.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:47.385Z,1628809847.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:47.386Z,1628809847.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:47.777Z,1628809847.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
341,000,0057C,188,80,80,B2,FF
2021-08-12T23:10:47.777Z,1628809847.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:47.778Z,1628809847.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:47.779Z,1628809847.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:48.189Z,1628809848.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:48.594Z,1628809848.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38B,000,0056A,18A,80,80,8A,FF
2021-08-12T23:10:48.594Z,1628809848.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:49.046Z,1628809849.046 [Micromodem](INFO): Nmea in: $SNTTA,0.043367,,,,231049.30*4B

2021-08-12T23:10:51.446Z,1628809851.446 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:51.823Z,1628809851.823 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:51.823Z,1628809851.823 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:51.823Z,1628809851.823 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:51.825Z,1628809851.825 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:52.225Z,1628809852.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38B,000,0056A,18A,80,80,8A,FF
2021-08-12T23:10:52.225Z,1628809852.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:52.225Z,1628809852.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:52.227Z,1628809852.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:52.641Z,1628809852.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:53.053Z,1628809853.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00563,189,80,80,B7,FF
2021-08-12T23:10:53.053Z,1628809853.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:53.470Z,1628809853.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231053.75*5A

2021-08-12T23:10:55.888Z,1628809855.888 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:10:56.275Z,1628809856.275 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:10:56.275Z,1628809856.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:10:56.275Z,1628809856.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:10:56.292Z,1628809856.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:10:56.669Z,1628809856.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00563,189,80,80,B7,FF
2021-08-12T23:10:56.669Z,1628809856.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:10:56.669Z,1628809856.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:10:56.671Z,1628809856.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:10:57.076Z,1628809857.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:10:57.485Z,1628809857.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,00561,189,80,80,AD,FF
2021-08-12T23:10:57.486Z,1628809857.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:10:57.906Z,1628809857.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231058.19*5B

2021-08-12T23:11:00.327Z,1628809860.327 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:11:00.714Z,1628809860.714 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:11:00.714Z,1628809860.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:11:00.715Z,1628809860.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:11:00.715Z,1628809860.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:11:01.113Z,1628809861.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,00561,189,80,80,AD,FF
2021-08-12T23:11:01.113Z,1628809861.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:11:01.113Z,1628809861.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:11:01.115Z,1628809861.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:11:01.521Z,1628809861.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:11:01.927Z,1628809861.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00553,189,80,80,A9,FF
2021-08-12T23:11:01.927Z,1628809861.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:11:02.361Z,1628809862.361 [Micromodem](INFO): Nmea in: $SNTTA,0.042808,,,,231102.64*47

2021-08-12T23:11:04.761Z,1628809864.761 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 44.28 m. Transitioning DDM to standby.
2021-08-12T23:11:04.762Z,1628809864.762 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-12T23:11:05.157Z,1628809865.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:11:05.157Z,1628809865.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:11:05.157Z,1628809865.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:11:05.158Z,1628809865.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:11:05.557Z,1628809865.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00553,189,80,80,A9,FF
2021-08-12T23:11:05.557Z,1628809865.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:11:05.557Z,1628809865.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:11:05.559Z,1628809865.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:11:05.975Z,1628809865.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:11:06.370Z,1628809866.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00559,188,80,80,8D,FF
2021-08-12T23:11:06.370Z,1628809866.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:11:06.797Z,1628809866.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,231107.08*50

2021-08-12T23:11:07.274Z,1628809867.274 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-12T23:11:07.600Z,1628809867.600 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-12T23:11:07.600Z,1628809867.600 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-12T23:11:07.600Z,1628809867.600 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-12T23:11:07.600Z,1628809867.600 [DefaultWithUndock:LeaveDock] Stopped
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-12T23:11:07.601Z,1628809867.601 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-12T23:11:07.602Z,1628809867.602 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-12T23:11:07.602Z,1628809867.602 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-12T23:11:07.602Z,1628809867.602 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-12T23:11:07.603Z,1628809867.603 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-12T23:11:07.603Z,1628809867.603 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-12T23:11:08.006Z,1628809868.006 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-12T23:11:08.006Z,1628809868.006 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-12T23:11:08.007Z,1628809868.007 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-12T23:11:08.008Z,1628809868.008 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense Dock.docking_state
2021-08-12T23:11:08.419Z,1628809868.419 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (1 active estimators).
2021-08-12T23:11:08.604Z,1628809868.604 [Radio_Surface](INFO): Powering up
2021-08-12T23:11:14.008Z,1628809874.008 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-12T23:11:38.729Z,1628809898.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:11:38.744Z,1628809898.744 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-12T23:11:38.745Z,1628809898.745 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-12T23:11:44.136Z,1628809904.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:11:54.817Z,1628809914.817 [NAL9602](INFO): SBD MO Status=0, MOMSN=23584, MT Status=0, MTMSN=0
2021-08-12T23:11:54.817Z,1628809914.817 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:12:12.191Z,1628809932.191 [PowerOnly](INFO): Powering down loadControl
2021-08-12T23:12:19.276Z,1628809939.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:12:31.986Z,1628809951.986 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231231.00,A,4133.17588,N,07042.41044,W,0.486,0.00,120821,,,A*7C
2021-08-12T23:12:31.988Z,1628809951.988 [NAL9602](INFO): GPS fix at 20210812T231231: (41.552931, -70.706841)
2021-08-12T23:12:31.999Z,1628809951.999 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:12:31.999Z,1628809951.999 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:12:43.871Z,1628809963.871 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:12:44.275Z,1628809964.275 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231244.361209,06,573,21,0104,0150,134,00,00,01,00,-1,-01,-01,1,3,8,0,150,31.7,0.01,-100,2.99,-01,-0.99,55,14500,4000*67

2021-08-12T23:12:54.416Z,1628809974.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:13:02.856Z,1628809982.856 [NAL9602](INFO): SBD MO Status=1, MOMSN=23585, MT Status=0, MTMSN=0
2021-08-12T23:13:02.900Z,1628809982.900 [NAL9602](INFO): Sent 72 bytes from file Logs/20210812T221831/Courier0019.lzma
2021-08-12T23:13:02.900Z,1628809982.900 [NAL9602](INFO): Packets left to send: 0
2021-08-12T23:13:13.140Z,1628809993.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=23586, MT Status=0, MTMSN=0
2021-08-12T23:13:13.188Z,1628809993.188 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0008.lzma
2021-08-12T23:13:13.188Z,1628809993.188 [NAL9602](INFO): Packets left to send: 4
2021-08-12T23:13:21.776Z,1628810001.776 [NAL9602](INFO): SBD MO Status=1, MOMSN=23587, MT Status=0, MTMSN=0
2021-08-12T23:13:21.828Z,1628810001.828 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0008.lzma
2021-08-12T23:13:21.828Z,1628810001.828 [NAL9602](INFO): Packets left to send: 3
2021-08-12T23:13:29.557Z,1628810009.557 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:13:39.352Z,1628810019.352 [NAL9602](INFO): SBD MO Status=1, MOMSN=23588, MT Status=0, MTMSN=0
2021-08-12T23:13:39.400Z,1628810019.400 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0008.lzma
2021-08-12T23:13:39.400Z,1628810019.400 [NAL9602](INFO): Packets left to send: 2
2021-08-12T23:13:48.349Z,1628810028.349 [NAL9602](INFO): SBD MO Status=1, MOMSN=23589, MT Status=0, MTMSN=0
2021-08-12T23:13:48.402Z,1628810028.402 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0008.lzma
2021-08-12T23:13:48.402Z,1628810028.402 [NAL9602](INFO): Packets left to send: 1
2021-08-12T23:14:04.696Z,1628810044.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:14:04.748Z,1628810044.748 [NAL9602](INFO): SBD MO Status=1, MOMSN=23590, MT Status=0, MTMSN=0
2021-08-12T23:14:04.796Z,1628810044.796 [NAL9602](INFO): Sent 99 bytes from file Logs/20210812T221831/Express0008.lzma
2021-08-12T23:14:04.796Z,1628810044.796 [NAL9602](INFO): Packets left to send: 0
2021-08-12T23:14:14.155Z,1628810054.155 [NAL9602](INFO): SBD MO Status=1, MOMSN=23591, MT Status=0, MTMSN=0
2021-08-12T23:14:14.204Z,1628810054.204 [NAL9602](INFO): Sent 168 bytes from file Logs/20210812T221831/Express0011.lzma
2021-08-12T23:14:14.204Z,1628810054.204 [NAL9602](INFO): Packets left to send: 0
2021-08-12T23:14:25.299Z,1628810065.299 [NAL9602](INFO): SBD MO Status=1, MOMSN=23592, MT Status=0, MTMSN=0
2021-08-12T23:14:25.349Z,1628810065.349 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T221831/Express0014.lzma
2021-08-12T23:14:25.349Z,1628810065.349 [NAL9602](INFO): Packets left to send: 1
2021-08-12T23:14:33.132Z,1628810073.132 [NAL9602](INFO): SBD MO Status=1, MOMSN=23593, MT Status=0, MTMSN=0
2021-08-12T23:14:33.180Z,1628810073.180 [NAL9602](INFO): Sent 49 bytes from file Logs/20210812T221831/Express0014.lzma
2021-08-12T23:14:33.180Z,1628810073.180 [NAL9602](INFO): Packets left to send: 0
2021-08-12T23:14:34.820Z,1628810074.820 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003110
2021-08-12T23:14:38.836Z,1628810078.836 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T221831/Courier0022.lzma
2021-08-12T23:14:39.784Z,1628810079.784 [NAL9602](INFO): SBD MO Status=1, MOMSN=23594, MT Status=0, MTMSN=0
2021-08-12T23:14:39.836Z,1628810079.836 [NAL9602](INFO): Sent 177 bytes from file Logs/20210812T221831/Express0017.lzma
2021-08-12T23:14:39.836Z,1628810079.836 [NAL9602](INFO): Packets left to send: 0
2021-08-12T23:14:39.841Z,1628810079.841 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Courier0022.lzma.bak
2021-08-12T23:14:39.841Z,1628810079.841 [DataOverHttps](INFO): SBD MOMSN=428584
2021-08-12T23:14:48.876Z,1628810088.876 [DataOverHttps](INFO): Sending 356 bytes from file Logs/20210812T221831/Express0020.lzma
2021-08-12T23:14:49.878Z,1628810089.878 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0020.lzma.bak
2021-08-12T23:14:49.878Z,1628810089.878 [DataOverHttps](INFO): SBD MOMSN=428592
2021-08-12T23:15:00.931Z,1628810100.931 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210812T221831/Express0023.lzma
2021-08-12T23:15:01.926Z,1628810101.926 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0023.lzma.bak
2021-08-12T23:15:01.926Z,1628810101.926 [DataOverHttps](INFO): SBD MOMSN=428616
2021-08-12T23:15:03.306Z,1628810103.306 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:15:03.306Z,1628810103.306 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:15:03.307Z,1628810103.307 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:15:10.530Z,1628810110.530 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:15:55.795Z,1628810155.795 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:15:55.800Z,1628810155.800 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231556.364726,06,986,23,0113,0150,134,02,02,01,03,-1,-01,-01,1,3,7,0,150,14.8,0.04,-100,2.96,-01,-2.03,53,14500,4000*65

2021-08-12T23:16:45.892Z,1628810205.892 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:16:45.892Z,1628810205.892 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:16:45.894Z,1628810205.894 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:16:46.309Z,1628810206.309 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231646.374007,06,648,22,0112,0150,126,02,02,01,02,-1,-01,-01,1,3,1,0,150,-100.0,0.48,-100,2.52,-01,-0.46,-2147483648,14500,4000*57

2021-08-12T23:16:56.814Z,1628810216.814 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:16:59.636Z,1628810219.636 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-12T23:16:59.641Z,1628810219.641 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231700.367219,06,743,22,0097,0150,141,01,01,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*51

2021-08-12T23:17:01.647Z,1628810221.647 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:17:01.660Z,1628810221.660 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231702.352709,06,1044,24,0091,0150,134,01,01,01,01,-1,-01,-01,1,3,8,0,150,27.5,0.20,-100,2.80,-01,0.25,53,14500,4000*7E

2021-08-12T23:19:01.690Z,1628810341.690 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:19:01.695Z,1628810341.695 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231902.371142,06,322,25,0155,0150,208,02,02,00,02,-1,-01,-01,1,3,6,0,150,6.9,0.14,-100,2.86,-01,-2.86,67,14500,4000*5D

2021-08-12T23:19:21.846Z,1628810361.846 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:19:40.423Z,1628810380.423 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:19:40.427Z,1628810380.427 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231938.359651,06,1126,24,0112,0150,156,00,00,01,01,2,-01,-01,2,3,2,0,150,8.9,2.02,07,0.98,-01,-4.05,57,14500,4000*5E

2021-08-12T23:19:57.791Z,1628810397.791 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:19:57.796Z,1628810397.796 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812231958.347843,06,835,23,0162,0150,208,02,02,01,02,-1,-01,-01,1,3,8,0,150,5.0,-0.12,-100,3.12,-01,-3.33,66,14500,4000*7C

2021-08-12T23:19:59.811Z,1628810399.811 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:19:59.811Z,1628810399.811 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:19:59.814Z,1628810399.814 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:20:00.221Z,1628810400.221 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232000.362950,06,918,23,0091,0150,134,02,02,01,02,-1,-01,-01,1,3,3,0,150,64.6,1.00,-100,2.00,-01,-1.44,-12,14500,4000*4B

2021-08-12T23:20:03.876Z,1628810403.876 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-12T23:20:03.876Z,1628810403.876 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:20:03.876Z,1628810403.876 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:20:03.877Z,1628810403.877 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-12T23:20:04.297Z,1628810404.297 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-12T23:20:04.297Z,1628810404.297 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-12T23:20:04.678Z,1628810404.678 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.908176 min 
2021-08-12T23:20:04.678Z,1628810404.678 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-12T23:20:04.678Z,1628810404.678 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:20:04.678Z,1628810404.678 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:20:04.678Z,1628810404.678 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:20:04.679Z,1628810404.679 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-12T23:20:04.679Z,1628810404.679 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-12T23:20:04.679Z,1628810404.679 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:20:04.679Z,1628810404.679 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:20:06.723Z,1628810406.723 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232005.00,A,4133.19246,N,07042.38329,W,0.544,57.75,120821,,,A*48
2021-08-12T23:20:06.725Z,1628810406.725 [NAL9602](INFO): GPS fix at 20210812T232005: (41.553208, -70.706388)
2021-08-12T23:20:06.772Z,1628810406.772 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:20:06.772Z,1628810406.772 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:20:11.191Z,1628810411.191 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T221831/Courier0025.lzma
2021-08-12T23:20:12.194Z,1628810412.194 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Courier0025.lzma.bak
2021-08-12T23:20:12.194Z,1628810412.194 [DataOverHttps](INFO): SBD MOMSN=428650
2021-08-12T23:20:21.232Z,1628810421.232 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20210812T221831/Express0026.lzma
2021-08-12T23:20:22.234Z,1628810422.234 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0026.lzma.bak
2021-08-12T23:20:22.234Z,1628810422.234 [DataOverHttps](INFO): SBD MOMSN=428653
2021-08-12T23:20:22.840Z,1628810422.840 [NAL9602](INFO): SBD MO Status=0, MOMSN=23595, MT Status=0, MTMSN=0
2021-08-12T23:20:22.840Z,1628810422.840 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:20:23.667Z,1628810423.667 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:20:23.667Z,1628810423.667 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:20:23.667Z,1628810423.667 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:20:53.286Z,1628810453.286 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:22:57.327Z,1628810577.327 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:22:57.332Z,1628810577.332 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232256.361470,06,2011,27,0090,0150,208,02,02,01,02,5,-01,-01,2,3,3,0,150,-2.2,5.53,-100,-2.53,-01,-2.98,65,14500,4000*48

2021-08-12T23:23:19.543Z,1628810599.543 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:23:19.946Z,1628810599.946 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232320.351266,06,1620,26,0137,0150,126,01,01,01,02,-1,-01,-01,1,3,7,0,150,20.7,0.03,-100,2.97,-01,-1.36,52,14500,4000*5F

2021-08-12T23:24:08.024Z,1628810648.024 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:24:08.025Z,1628810648.025 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:24:08.027Z,1628810648.027 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:24:08.426Z,1628810648.426 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232408.356518,06,816,23,0090,0150,149,00,00,01,00,-1,-01,-01,1,3,3,0,150,55.2,0.37,-100,2.63,-01,-1.88,00,14500,4000*6E

2021-08-12T23:24:34.288Z,1628810674.288 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T232433