2021-08-12T23:24:38.303Z,1628810678.303 [DataOverHttps](INFO): Received command:restart logs
2021-08-12T23:24:38.307Z,1628810678.307 [CommandLine](IMPORTANT): got command restart logs
2021-08-12T23:25:22.368Z,1628810722.368 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:25:22.368Z,1628810722.368 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:25:22.370Z,1628810722.370 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:25:22.755Z,1628810722.755 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232522.346600,06,1161,24,0151,0150,223,02,02,01,02,-1,-01,-01,1,3,4,0,150,82.8,0.23,-100,2.77,-01,-2.35,-12,14500,4000*7E

2021-08-12T23:25:24.414Z,1628810724.414 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-12T23:25:24.414Z,1628810724.414 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:25:24.414Z,1628810724.414 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:25:24.414Z,1628810724.414 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-12T23:25:24.813Z,1628810724.813 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-12T23:25:24.813Z,1628810724.813 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-12T23:25:25.288Z,1628810725.288 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.250105 min 
2021-08-12T23:25:25.288Z,1628810725.288 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-12T23:25:25.288Z,1628810725.288 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:25:25.288Z,1628810725.288 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:25:25.288Z,1628810725.288 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:25:25.289Z,1628810725.289 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-12T23:25:25.289Z,1628810725.289 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-12T23:25:25.289Z,1628810725.289 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:25:25.289Z,1628810725.289 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:25:27.197Z,1628810727.197 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232526.00,A,4133.20492,N,07042.36211,W,0.408,62.09,120821,,,A*49
2021-08-12T23:25:27.199Z,1628810727.199 [NAL9602](INFO): GPS fix at 20210812T232526: (41.553415, -70.706035)
2021-08-12T23:25:27.264Z,1628810727.264 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:25:27.329Z,1628810727.329 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:25:27.329Z,1628810727.329 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:25:31.519Z,1628810731.519 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T221831/Courier0028.lzma
2021-08-12T23:25:32.522Z,1628810732.522 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Courier0028.lzma.bak
2021-08-12T23:25:32.522Z,1628810732.522 [DataOverHttps](INFO): SBD MOMSN=428659
2021-08-12T23:25:37.009Z,1628810737.009 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:25:41.560Z,1628810741.560 [DataOverHttps](INFO): Sending 261 bytes from file Logs/20210812T232438/Courier0000.lzma
2021-08-12T23:25:42.562Z,1628810742.562 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0000.lzma.bak
2021-08-12T23:25:42.562Z,1628810742.562 [DataOverHttps](INFO): SBD MOMSN=428661
2021-08-12T23:25:42.601Z,1628810742.601 [NAL9602](INFO): SBD MO Status=0, MOMSN=23596, MT Status=0, MTMSN=0
2021-08-12T23:25:42.601Z,1628810742.601 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:25:47.096Z,1628810747.096 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:25:51.599Z,1628810751.599 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0003.lzma
2021-08-12T23:25:52.602Z,1628810752.602 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0003.lzma.bak
2021-08-12T23:25:52.602Z,1628810752.602 [DataOverHttps](INFO): SBD MOMSN=428665
2021-08-12T23:26:01.656Z,1628810761.656 [DataOverHttps](INFO): Sending 95 bytes from file Logs/20210812T221831/Express0029.lzma
2021-08-12T23:26:02.658Z,1628810762.658 [DataOverHttps](INFO): Moved sent file to Logs/20210812T221831/Express0029.lzma.bak
2021-08-12T23:26:02.658Z,1628810762.658 [DataOverHttps](INFO): SBD MOMSN=428667
2021-08-12T23:26:12.700Z,1628810772.700 [DataOverHttps](INFO): Sending 340 bytes from file Logs/20210812T232438/Express0001.lzma
2021-08-12T23:26:13.301Z,1628810773.301 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:26:13.702Z,1628810773.702 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0001.lzma.bak
2021-08-12T23:26:13.702Z,1628810773.702 [DataOverHttps](INFO): SBD MOMSN=428671
2021-08-12T23:26:22.740Z,1628810782.740 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210812T232438/Express0004.lzma
2021-08-12T23:26:23.742Z,1628810783.742 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0004.lzma.bak
2021-08-12T23:26:23.742Z,1628810783.742 [DataOverHttps](INFO): SBD MOMSN=428675
2021-08-12T23:26:25.127Z,1628810785.127 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:26:25.128Z,1628810785.128 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:26:25.128Z,1628810785.128 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:26:31.888Z,1628810791.888 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:26:31.888Z,1628810791.888 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:26:31.894Z,1628810791.894 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:26:32.295Z,1628810792.295 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232632.366774,06,1021,24,0140,0150,134,03,03,01,03,-1,-01,-01,1,3,1,0,150,-100.0,0.03,-100,2.97,-01,-2.13,-2147483648,14500,4000*68

2021-08-12T23:26:42.404Z,1628810802.404 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T23:26:57.740Z,1628810817.740 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:26:57.745Z,1628810817.745 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232658.360067,06,405,26,0117,0150,134,04,04,00,04,-1,-01,-01,1,3,5,0,150,1.2,0.10,-100,2.90,-01,-2.50,58,14500,4000*5E

2021-08-12T23:27:01.786Z,1628810821.786 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:27:01.791Z,1628810821.791 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232702.367106,06,597,21,0139,0150,208,02,02,01,02,-1,-01,-01,1,3,7,0,150,9.5,0.07,-100,2.93,-01,-0.98,64,14500,4000*5A

2021-08-12T23:27:17.187Z,1628810837.187 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:27:24.416Z,1628810844.416 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:27:24.416Z,1628810844.416 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:27:24.418Z,1628810844.418 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:27:24.820Z,1628810844.820 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232724.361785,06,860,23,0127,0150,208,02,02,01,02,-1,-01,-01,1,3,7,0,150,79.2,1.05,-100,1.95,-01,-3.29,-12,14500,4000*4E

2021-08-12T23:28:30.260Z,1628810910.260 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:28:30.261Z,1628810910.261 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:28:30.263Z,1628810910.263 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:28:30.670Z,1628810910.670 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232830.345132,06,1334,25,0107,0150,149,01,01,01,01,-1,-01,-01,1,3,1,0,150,61.2,7.31,-100,-4.31,-01,2.21,-6,14500,4000*4B

2021-08-12T23:29:25.517Z,1628810965.517 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T232924
2021-08-12T23:29:25.619Z,1628810965.619 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:29:25.632Z,1628810965.632 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812232924.345103,06,1474,25,0138,0150,74,01,01,01,01,4,-01,-01,2,3,1,0,150,7.8,-346.37,-100,-305.99,-01,0.00,52,14500,4000*5C

2021-08-12T23:29:29.536Z,1628810969.536 [DataOverHttps](INFO): Received command:get LineCapture.navigationGain
2021-08-12T23:29:31.949Z,1628810971.949 [CommandLine](IMPORTANT): got command get LineCapture.navigationGain
2021-08-12T23:29:31.950Z,1628810971.950 [CommandLine](IMPORTANT): LineCapture.navigationGain 3.000000 n/a
2021-08-12T23:30:31.105Z,1628811031.105 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:30:31.105Z,1628811031.105 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:30:31.108Z,1628811031.108 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:30:31.485Z,1628811031.485 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233030.344255,06,922,23,0099,0150,82,02,02,01,02,-1,-01,-01,1,3,8,0,150,67.5,-7.49,-100,10.49,-01,-2.48,-12,14500,4000*62

2021-08-12T23:30:41.249Z,1628811041.249 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T233040
2021-08-12T23:30:43.613Z,1628811043.613 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:30:43.618Z,1628811043.618 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233044.348088,06,849,23,0107,0150,134,00,00,01,00,-1,-01,-01,1,3,7,0,150,25.4,0.14,-100,2.86,-01,-0.74,58,14500,4000*6F

2021-08-12T23:30:45.268Z,1628811045.268 [DataOverHttps](INFO): Received command:configSet LineCapture.navigationGain 3 none persist
2021-08-12T23:30:45.501Z,1628811045.501 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain 3.000000 none persist
2021-08-12T23:31:25.649Z,1628811085.649 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-12T23:31:25.649Z,1628811085.649 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:31:25.649Z,1628811085.649 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:31:25.649Z,1628811085.649 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-12T23:31:26.039Z,1628811086.039 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-12T23:31:26.039Z,1628811086.039 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-12T23:31:26.464Z,1628811086.464 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 21.270532 min 
2021-08-12T23:31:26.464Z,1628811086.464 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-12T23:31:26.464Z,1628811086.464 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:31:26.465Z,1628811086.465 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:31:28.453Z,1628811088.453 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233127.00,A,4133.21610,N,07042.33655,W,0.175,161.64,120821,,,A*73
2021-08-12T23:31:28.455Z,1628811088.455 [NAL9602](INFO): GPS fix at 20210812T233127: (41.553602, -70.705609)
2021-08-12T23:31:28.525Z,1628811088.525 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:31:28.525Z,1628811088.525 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:31:32.472Z,1628811092.472 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210812T232438/Courier0006.lzma
2021-08-12T23:31:33.474Z,1628811093.474 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0006.lzma.bak
2021-08-12T23:31:33.474Z,1628811093.474 [DataOverHttps](INFO): SBD MOMSN=428712
2021-08-12T23:31:44.520Z,1628811104.520 [DataOverHttps](INFO): Sending 276 bytes from file Logs/20210812T232438/Express0007.lzma
2021-08-12T23:31:44.672Z,1628811104.672 [NAL9602](INFO): SBD MO Status=0, MOMSN=23597, MT Status=0, MTMSN=0
2021-08-12T23:31:44.672Z,1628811104.672 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:31:45.522Z,1628811105.522 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0007.lzma.bak
2021-08-12T23:31:45.522Z,1628811105.522 [DataOverHttps](IMPORTANT): SBD MOMSN=428716, MTMSN=20210812T233144
2021-08-12T23:31:47.535Z,1628811107.535 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:31:49.540Z,1628811109.540 [DataOverHttps](INFO): Received command:get LineCapture.rolloutSpeed
2021-08-12T23:31:50.612Z,1628811110.612 [CommandLine](IMPORTANT): got command get LineCapture.rolloutSpeed
2021-08-12T23:31:50.613Z,1628811110.613 [CommandLine](IMPORTANT): LineCapture.rolloutSpeed 1.000000 m/s
2021-08-12T23:31:54.631Z,1628811114.631 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210812T232438/Express0010.lzma
2021-08-12T23:31:55.634Z,1628811115.634 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0010.lzma.bak
2021-08-12T23:31:55.634Z,1628811115.634 [DataOverHttps](INFO): SBD MOMSN=428725
2021-08-12T23:32:04.687Z,1628811124.687 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0012.lzma
2021-08-12T23:32:05.690Z,1628811125.690 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0012.lzma.bak
2021-08-12T23:32:05.690Z,1628811125.690 [DataOverHttps](INFO): SBD MOMSN=428727
2021-08-12T23:32:14.728Z,1628811134.728 [DataOverHttps](INFO): Sending 165 bytes from file Logs/20210812T232438/Express0013.lzma
2021-08-12T23:32:15.374Z,1628811135.374 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:32:15.729Z,1628811135.729 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0013.lzma.bak
2021-08-12T23:32:15.730Z,1628811135.730 [DataOverHttps](INFO): SBD MOMSN=428729
2021-08-12T23:32:17.117Z,1628811137.117 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:32:17.118Z,1628811137.118 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:32:17.118Z,1628811137.118 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:32:33.617Z,1628811153.617 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:32:33.624Z,1628811153.624 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233234.369532,06,515,21,0193,0150,149,01,01,01,01,-1,-01,-01,1,3,8,0,150,20.8,-10.10,-100,13.10,-01,0.40,59,14500,4000*67

2021-08-12T23:33:32.571Z,1628811212.571 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-12T23:33:32.574Z,1628811212.574 [BPC1](INFO): Received data from all battery sticks.
2021-08-12T23:33:51.161Z,1628811231.161 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:33:51.165Z,1628811231.165 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233350.364569,06,224,23,0130,0150,208,02,02,00,02,6,-01,-01,2,3,2,0,150,-4.6,2.94,07,0.06,-01,-2.87,63,14500,4000*4A

2021-08-12T23:34:07.181Z,1628811247.181 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T233406
2021-08-12T23:34:11.199Z,1628811251.199 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutSpeed 1 m/s persist
2021-08-12T23:34:11.521Z,1628811251.521 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutSpeed 1.000000 meter_per_second persist
2021-08-12T23:34:22.274Z,1628811262.274 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:34:22.274Z,1628811262.274 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:34:22.276Z,1628811262.276 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:34:22.699Z,1628811262.699 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233422.367838,06,181,22,0090,0150,194,01,01,00,01,-1,-01,-01,1,3,1,0,150,70.9,1.76,-100,1.24,-01,0.48,-6,14500,4000*5D

2021-08-12T23:34:39.635Z,1628811279.635 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:34:39.654Z,1628811279.654 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233438.350542,06,1247,24,0171,0150,74,01,01,01,01,5,-01,-01,2,3,4,0,150,-0.1,-3.24,-100,6.24,-01,-5.30,49,14500,4000*7F

2021-08-12T23:34:47.341Z,1628811287.341 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T233446
2021-08-12T23:34:51.360Z,1628811291.360 [DataOverHttps](INFO): Received command:get LineCapture.navigationGain
2021-08-12T23:34:52.510Z,1628811292.510 [CommandLine](IMPORTANT): got command get LineCapture.navigationGain
2021-08-12T23:34:52.511Z,1628811292.511 [CommandLine](IMPORTANT): LineCapture.navigationGain 3.000000 n/a
2021-08-12T23:34:52.524Z,1628811292.524 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T233451
2021-08-12T23:34:56.539Z,1628811296.539 [DataOverHttps](INFO): Received command:get LineCapture.rolloutSpeed
2021-08-12T23:34:57.710Z,1628811297.710 [CommandLine](IMPORTANT): got command get LineCapture.rolloutSpeed
2021-08-12T23:34:57.711Z,1628811297.711 [CommandLine](IMPORTANT): LineCapture.rolloutSpeed 1.000000 m/s
2021-08-12T23:35:09.933Z,1628811309.933 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:35:09.934Z,1628811309.934 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:35:09.935Z,1628811309.935 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:35:10.346Z,1628811310.346 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233508.363718,06,155,21,0156,0150,208,02,02,00,02,-1,-01,-01,1,3,5,0,150,79.8,0.51,-100,2.49,-01,-2.44,-12,14500,4000*4F

2021-08-12T23:37:17.620Z,1628811437.620 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-12T23:37:17.620Z,1628811437.620 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:37:17.620Z,1628811437.620 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:37:17.621Z,1628811437.621 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-12T23:37:18.029Z,1628811438.029 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-12T23:37:18.029Z,1628811438.029 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-12T23:37:18.451Z,1628811438.451 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 27.137032 min 
2021-08-12T23:37:18.451Z,1628811438.451 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-12T23:37:18.451Z,1628811438.451 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:37:18.451Z,1628811438.451 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:37:18.451Z,1628811438.451 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:37:18.456Z,1628811438.456 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-08-12T23:37:18.456Z,1628811438.456 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-08-12T23:37:18.456Z,1628811438.456 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:37:18.456Z,1628811438.456 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:37:20.432Z,1628811440.432 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233719.00,A,4133.22943,N,07042.31518,W,0.292,67.34,120821,,,A*42
2021-08-12T23:37:20.435Z,1628811440.435 [NAL9602](INFO): GPS fix at 20210812T233719: (41.553824, -70.705253)
2021-08-12T23:37:20.469Z,1628811440.469 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:37:20.469Z,1628811440.469 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:37:24.304Z,1628811444.304 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20210812T232438/Courier0015.lzma
2021-08-12T23:37:25.306Z,1628811445.306 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0015.lzma.bak
2021-08-12T23:37:25.306Z,1628811445.306 [DataOverHttps](INFO): SBD MOMSN=428741
2021-08-12T23:37:31.460Z,1628811451.460 [NAL9602](INFO): SBD MO Status=0, MOMSN=23598, MT Status=0, MTMSN=0
2021-08-12T23:37:31.460Z,1628811451.460 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:37:34.347Z,1628811454.347 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0018.lzma
2021-08-12T23:37:35.350Z,1628811455.350 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0018.lzma.bak
2021-08-12T23:37:35.350Z,1628811455.350 [DataOverHttps](INFO): SBD MOMSN=428744
2021-08-12T23:37:45.393Z,1628811465.393 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20210812T232438/Express0016.lzma
2021-08-12T23:37:47.398Z,1628811467.398 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0016.lzma.bak
2021-08-12T23:37:47.398Z,1628811467.398 [DataOverHttps](INFO): SBD MOMSN=428746
2021-08-12T23:37:56.435Z,1628811476.435 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Express0017.lzma
2021-08-12T23:37:57.438Z,1628811477.438 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0017.lzma.bak
2021-08-12T23:37:57.438Z,1628811477.438 [DataOverHttps](INFO): SBD MOMSN=428757
2021-08-12T23:37:59.025Z,1628811479.025 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:37:59.025Z,1628811479.025 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:37:59.025Z,1628811479.025 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:38:02.162Z,1628811482.162 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:39:37.922Z,1628811577.922 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T23:39:49.641Z,1628811589.641 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:39:49.641Z,1628811589.641 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:39:50.051Z,1628811590.051 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:39:50.065Z,1628811590.065 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812233950.345253,06,1689,26,0111,0150,194,02,02,01,02,-1,-01,-01,1,3,7,0,150,75.8,2.26,-100,0.74,-01,-5.83,-12,14500,4000*78

2021-08-12T23:40:11.855Z,1628811611.855 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:40:11.860Z,1628811611.860 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234012.343679,06,1634,26,0105,0150,149,03,03,01,03,-1,-01,-01,1,3,4,0,150,12.5,0.08,-100,2.92,-01,-2.56,55,14500,4000*52

2021-08-12T23:41:23.759Z,1628811683.759 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:41:23.772Z,1628811683.772 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234124.347775,06,1064,24,0127,0150,134,03,03,01,03,-1,-01,-01,1,3,5,0,150,12.6,0.01,-100,2.99,-01,0.53,55,14500,4000*7E

2021-08-12T23:42:33.655Z,1628811753.655 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:42:33.660Z,1628811753.660 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234234.363287,06,271,24,0130,0150,134,02,02,00,02,-1,-01,-01,1,3,7,0,150,20.8,-0.04,-100,3.04,-01,-1.95,53,14500,4000*43

2021-08-12T23:42:59.521Z,1628811779.521 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-12T23:42:59.521Z,1628811779.521 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:42:59.521Z,1628811779.521 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:42:59.522Z,1628811779.522 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-12T23:42:59.927Z,1628811779.927 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-12T23:42:59.927Z,1628811779.927 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-12T23:43:00.345Z,1628811780.345 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 32.835341 min 
2021-08-12T23:43:00.345Z,1628811780.345 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-12T23:43:00.345Z,1628811780.345 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:43:00.345Z,1628811780.345 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:43:00.346Z,1628811780.346 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:43:00.346Z,1628811780.346 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #6
2021-08-12T23:43:00.346Z,1628811780.346 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=6
2021-08-12T23:43:00.346Z,1628811780.346 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:43:00.346Z,1628811780.346 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-12T23:43:01.144Z,1628811781.144 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:43:01.178Z,1628811781.178 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234300.362698,06,482,20,0091,0150,208,02,02,01,02,6,-01,-01,2,3,2,0,150,-3.6,3.76,10,-0.76,-01,-0.37,63,14500,4000*6E

2021-08-12T23:43:02.340Z,1628811782.340 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,234301.00,A,4133.23869,N,07042.28776,W,0.486,77.88,120821,,,A*47
2021-08-12T23:43:02.343Z,1628811782.343 [NAL9602](INFO): GPS fix at 20210812T234301: (41.553978, -70.704796)
2021-08-12T23:43:02.383Z,1628811782.383 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-12T23:43:02.383Z,1628811782.383 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-12T23:43:06.715Z,1628811786.715 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T232438/Courier0020.lzma
2021-08-12T23:43:07.718Z,1628811787.718 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0020.lzma.bak
2021-08-12T23:43:07.718Z,1628811787.718 [DataOverHttps](INFO): SBD MOMSN=428795
2021-08-12T23:43:11.226Z,1628811791.226 [NAL9602](INFO): SBD MO Status=0, MOMSN=23599, MT Status=0, MTMSN=0
2021-08-12T23:43:11.226Z,1628811791.226 [NAL9602](INFO): No messages in MT queue
2021-08-12T23:43:16.756Z,1628811796.756 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210812T232438/Express0022.lzma
2021-08-12T23:43:17.758Z,1628811797.758 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0022.lzma.bak
2021-08-12T23:43:17.758Z,1628811797.758 [DataOverHttps](INFO): SBD MOMSN=428798
2021-08-12T23:43:19.330Z,1628811799.330 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-12T23:43:19.330Z,1628811799.330 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-12T23:43:19.330Z,1628811799.330 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-12T23:43:41.930Z,1628811821.930 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:44:52.232Z,1628811892.232 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-12T23:44:52.232Z,1628811892.232 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-12T23:44:52.234Z,1628811892.234 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:44:52.645Z,1628811892.645 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234452.363806,06,852,23,0094,0150,67,03,03,01,03,-1,-01,-01,1,3,6,0,150,68.7,2.41,-100,0.59,-01,-1.66,-18,14500,4000*7B

2021-08-12T23:45:13.255Z,1628811913.255 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:45:44.378Z,1628811944.378 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T234543
2021-08-12T23:45:48.396Z,1628811948.396 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2o9zn 1 2
2021-08-12T23:45:48.489Z,1628811948.489 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2o9zn 1 2.000000
2021-08-12T23:45:48.490Z,1628811948.490 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2o9zn
2021-08-12T23:45:48.490Z,1628811948.490 [CommandLine](IMPORTANT): Scheduled #3 (#1 of 2 with id='2o9zn'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 120 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-12T23:45:49.398Z,1628811949.398 [DataOverHttps](IMPORTANT): SBD MTMSN=20210812T234548
2021-08-12T23:45:53.416Z,1628811953.416 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2o9zn 2 2
2021-08-12T23:45:53.501Z,1628811953.501 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2o9zn 2 2.000000
2021-08-12T23:45:53.502Z,1628811953.502 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2o9zn
2021-08-12T23:45:53.503Z,1628811953.503 [CommandLine](IMPORTANT): Scheduled #4 (#2 of 2 with id='2o9zn'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-12T23:45:53.597Z,1628811953.597 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T23:45:53.598Z,1628811953.598 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T23:45:53.768Z,1628811953.768 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-12T23:45:53.770Z,1628811953.770 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-12T23:45:53.773Z,1628811953.773 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-12T23:45:53.775Z,1628811953.775 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-12T23:45:53.777Z,1628811953.777 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-12T23:45:53.780Z,1628811953.780 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-12T23:45:53.782Z,1628811953.782 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-12T23:45:53.785Z,1628811953.785 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-12T23:45:53.787Z,1628811953.787 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-12T23:45:53.789Z,1628811953.789 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-12T23:45:53.793Z,1628811953.793 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-12T23:45:53.796Z,1628811953.796 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-12T23:45:53.798Z,1628811953.798 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-12T23:45:53.801Z,1628811953.801 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-12T23:45:53.803Z,1628811953.803 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-12T23:45:53.804Z,1628811953.804 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-12T23:45:54.146Z,1628811954.146 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-12T23:45:54.148Z,1628811954.148 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-12T23:45:54.150Z,1628811954.150 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-12T23:45:54.152Z,1628811954.152 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-12T23:45:54.154Z,1628811954.154 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-12T23:45:54.156Z,1628811954.156 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-12T23:45:54.158Z,1628811954.158 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-12T23:45:54.161Z,1628811954.161 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-12T23:45:54.163Z,1628811954.163 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-12T23:45:54.165Z,1628811954.165 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-12T23:45:54.167Z,1628811954.167 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-12T23:45:54.170Z,1628811954.170 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-12T23:45:54.172Z,1628811954.172 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-12T23:45:54.174Z,1628811954.174 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-12T23:45:54.176Z,1628811954.176 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-12T23:45:54.179Z,1628811954.179 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-12T23:45:54.202Z,1628811954.202 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-12T23:45:54.208Z,1628811954.208 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-12T23:45:54.211Z,1628811954.211 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-12T23:45:54.218Z,1628811954.218 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-12T23:45:54.228Z,1628811954.228 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-12T23:45:54.231Z,1628811954.231 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-12T23:45:54.244Z,1628811954.244 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-12T23:45:54.246Z,1628811954.246 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-12T23:45:54.253Z,1628811954.253 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-12T23:45:54.255Z,1628811954.255 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-12T23:45:54.270Z,1628811954.270 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-12T23:45:54.276Z,1628811954.276 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-12T23:45:54.279Z,1628811954.279 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-12T23:45:54.289Z,1628811954.289 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-12T23:45:54.296Z,1628811954.296 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-12T23:45:54.298Z,1628811954.298 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-12T23:45:54.305Z,1628811954.305 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-12T23:45:54.307Z,1628811954.307 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-12T23:45:54.318Z,1628811954.318 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-12T23:45:54.323Z,1628811954.323 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-12T23:45:54.337Z,1628811954.337 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-12T23:45:54.344Z,1628811954.344 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-12T23:45:54.346Z,1628811954.346 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-12T23:45:54.357Z,1628811954.357 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-12T23:45:54.359Z,1628811954.359 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-12T23:45:54.366Z,1628811954.366 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-12T23:45:54.380Z,1628811954.380 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-12T23:45:54.383Z,1628811954.383 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-12T23:45:54.389Z,1628811954.389 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-12T23:45:54.392Z,1628811954.392 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-12T23:45:54.395Z,1628811954.395 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-12T23:45:54.410Z,1628811954.410 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-12T23:45:54.421Z,1628811954.421 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-12T23:45:54.432Z,1628811954.432 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-12T23:45:54.435Z,1628811954.435 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-12T23:45:54.481Z,1628811954.481 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-12T23:45:54.489Z,1628811954.489 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-12T23:45:54.491Z,1628811954.491 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-12T23:45:54.506Z,1628811954.506 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-12T23:45:54.512Z,1628811954.513 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-12T23:45:54.515Z,1628811954.515 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-12T23:45:54.526Z,1628811954.526 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-12T23:45:54.535Z,1628811954.535 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-12T23:45:54.542Z,1628811954.542 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-12T23:45:54.549Z,1628811954.549 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-12T23:45:54.565Z,1628811954.565 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-12T23:45:54.589Z,1628811954.589 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-12T23:45:54.591Z,1628811954.591 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-12T23:45:54.630Z,1628811954.630 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T23:45:54.671Z,1628811954.671 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T23:45:54.709Z,1628811954.709 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T23:45:54.732Z,1628811954.732 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T23:45:54.750Z,1628811954.750 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T23:45:54.775Z,1628811954.775 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T23:45:54.813Z,1628811954.813 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-12T23:45:54.885Z,1628811954.885 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-12T23:45:54.967Z,1628811954.967 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-12T23:45:55.007Z,1628811955.007 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-12T23:45:55.014Z,1628811955.014 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-12T23:45:55.020Z,1628811955.020 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-12T23:45:55.021Z,1628811955.021 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-12T23:45:55.031Z,1628811955.031 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-12T23:45:55.046Z,1628811955.046 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-12T23:45:55.063Z,1628811955.063 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-12T23:45:55.145Z,1628811955.145 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-12T23:45:55.147Z,1628811955.147 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-12T23:45:55.154Z,1628811955.154 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-12T23:45:55.156Z,1628811955.156 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-12T23:45:55.158Z,1628811955.158 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-12T23:45:55.160Z,1628811955.160 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-12T23:45:55.162Z,1628811955.162 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-12T23:45:55.184Z,1628811955.184 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-12T23:45:55.218Z,1628811955.218 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-12T23:45:55.231Z,1628811955.231 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-12T23:45:55.233Z,1628811955.233 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-12T23:45:55.237Z,1628811955.237 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-12T23:45:55.312Z,1628811955.312 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-12T23:45:55.518Z,1628811955.518 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-12T23:45:55.520Z,1628811955.520 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-12T23:45:55.523Z,1628811955.523 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-12T23:45:55.525Z,1628811955.525 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-12T23:45:55.528Z,1628811955.528 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-12T23:45:55.530Z,1628811955.530 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-12T23:45:55.534Z,1628811955.534 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-12T23:45:55.536Z,1628811955.536 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-12T23:45:55.539Z,1628811955.539 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-12T23:45:55.541Z,1628811955.541 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-12T23:45:55.544Z,1628811955.544 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-12T23:45:55.546Z,1628811955.546 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-12T23:45:55.548Z,1628811955.548 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-12T23:45:55.550Z,1628811955.550 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-12T23:45:55.553Z,1628811955.553 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-12T23:45:55.555Z,1628811955.555 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-12T23:45:55.557Z,1628811955.557 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-12T23:45:55.560Z,1628811955.560 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-12T23:45:55.562Z,1628811955.562 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-12T23:45:55.565Z,1628811955.565 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-12T23:45:55.567Z,1628811955.567 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-12T23:45:55.589Z,1628811955.589 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-12T23:45:55.600Z,1628811955.600 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-12T23:45:55.602Z,1628811955.602 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-12T23:45:55.607Z,1628811955.607 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-12T23:45:55.622Z,1628811955.622 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-12T23:45:55.630Z,1628811955.630 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-12T23:45:55.734Z,1628811955.734 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-12T23:45:55.740Z,1628811955.740 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-12T23:45:55.742Z,1628811955.742 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-12T23:45:55.743Z,1628811955.743 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-12T23:45:55.777Z,1628811955.777 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-12T23:45:55.805Z,1628811955.805 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-12T23:45:55.843Z,1628811955.843 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-12T23:45:55.855Z,1628811955.855 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-12T23:45:55.877Z,1628811955.877 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-12T23:45:55.877Z,1628811955.877 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T23:45:55.907Z,1628811955.907 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-12T23:45:55.918Z,1628811955.918 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-12T23:45:55.923Z,1628811955.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-12T23:45:55.946Z,1628811955.946 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-12T23:45:55.952Z,1628811955.952 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-12T23:45:55.970Z,1628811955.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-12T23:45:55.986Z,1628811955.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-12T23:45:55.998Z,1628811955.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-12T23:45:55.998Z,1628811955.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-12T23:45:56.010Z,1628811956.010 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-12T23:45:56.025Z,1628811956.025 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-12T23:45:56.130Z,1628811956.130 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-12T23:45:56.145Z,1628811956.145 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-12T23:45:56.147Z,1628811956.147 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-12T23:45:56.155Z,1628811956.155 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-12T23:45:56.169Z,1628811956.169 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-12T23:45:56.230Z,1628811956.230 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-12T23:45:56.230Z,1628811956.230 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-12T23:45:56.238Z,1628811956.238 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-12T23:45:56.238Z,1628811956.238 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T23:45:56.298Z,1628811956.298 [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>


2021-08-12T23:45:56.299Z,1628811956.299 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-12T23:46:05.789Z,1628811965.789 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-12T23:46:05.804Z,1628811965.804 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234602.363446,06,416,26,0116,0150,149,02,02,00,02,6,-01,-01,2,3,6,0,150,4.8,3.39,10,-0.39,-01,-0.37,58,14500,4000*43

2021-08-12T23:46:09.748Z,1628811969.748 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-12T23:46:09.749Z,1628811969.749 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-12T23:46:09.750Z,1628811969.750 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-12T23:46:09.751Z,1628811969.751 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-12T23:46:15.641Z,1628811975.641 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-12T23:46:15.642Z,1628811975.642 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-12T23:46:15.643Z,1628811975.643 [CommandLine](IMPORTANT): got command run
2021-08-12T23:46:15.681Z,1628811975.681 [CommandLine](IMPORTANT): Running 
2021-08-12T23:46:15.867Z,1628811975.867 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-12T23:46:15.887Z,1628811975.887 [Micromodem](INFO): Nmea in: $CACST,6,1,20210812234616.358920,06,302,18,0092,0150,194,02,02,01,02,-1,-01,-01,1,3,2,0,150,10.2,-0.04,-100,3.04,-01,-2.11,61,14500,4000*43

2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock] Stopped
2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-12T23:46:15.898Z,1628811975.898 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-12T23:46:15.899Z,1628811975.899 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-12T23:46:15.899Z,1628811975.899 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-12T23:46:15.899Z,1628811975.899 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-12T23:46:15.899Z,1628811975.899 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-12T23:46:15.899Z,1628811975.899 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-12T23:46:15.899Z,1628811975.899 [lineCaptureDepth] Running Loop=1
2021-08-12T23:46:15.899Z,1628811975.899 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-12T23:46:15.900Z,1628811975.900 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-12T23:46:15.901Z,1628811975.901 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-12T23:46:15.901Z,1628811975.901 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-12T23:46:15.901Z,1628811975.901 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T23:46:15.901Z,1628811975.901 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T23:46:15.902Z,1628811975.902 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-12T23:46:15.902Z,1628811975.902 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-12T23:46:15.903Z,1628811975.903 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T23:46:15.903Z,1628811975.903 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T23:46:15.903Z,1628811975.903 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-12T23:46:15.903Z,1628811975.903 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-12T23:46:15.903Z,1628811975.903 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T23:46:15.904Z,1628811975.904 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T23:46:15.905Z,1628811975.905 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-12T23:46:15.905Z,1628811975.905 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-12T23:46:15.905Z,1628811975.905 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T23:46:15.905Z,1628811975.905 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T23:46:15.906Z,1628811975.906 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-12T23:46:15.907Z,1628811975.907 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-12T23:46:15.907Z,1628811975.907 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T23:46:15.907Z,1628811975.907 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T23:46:15.907Z,1628811975.907 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-12T23:46:15.907Z,1628811975.907 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-12T23:46:15.908Z,1628811975.908 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T23:46:15.908Z,1628811975.908 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T23:46:15.909Z,1628811975.909 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-12T23:46:15.909Z,1628811975.909 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-12T23:46:15.909Z,1628811975.909 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-12T23:46:15.910Z,1628811975.910 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-12T23:46:15.911Z,1628811975.911 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-12T23:46:15.911Z,1628811975.911 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-12T23:46:15.911Z,1628811975.911 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-12T23:46:15.911Z,1628811975.911 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-12T23:46:15.912Z,1628811975.912 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-12T23:46:15.912Z,1628811975.912 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-12T23:46:15.913Z,1628811975.913 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-12T23:46:15.914Z,1628811975.914 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T23:46:15.915Z,1628811975.915 [lineCaptureDepth:C] Running Loop=1
2021-08-12T23:46:15.917Z,1628811975.917 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-12T23:46:15.917Z,1628811975.917 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T23:46:15.917Z,1628811975.917 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-12T23:46:15.917Z,1628811975.917 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-12T23:46:15.917Z,1628811975.917 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:46:15.918Z,1628811975.918 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T23:46:15.919Z,1628811975.919 [lineCaptureDepth:C] Stopped
2021-08-12T23:46:15.919Z,1628811975.919 [lineCaptureDepth:D] Running Loop=1
2021-08-12T23:46:15.919Z,1628811975.919 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-12T23:46:15.919Z,1628811975.919 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T23:46:15.919Z,1628811975.919 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T23:46:15.920Z,1628811975.920 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T23:46:15.920Z,1628811975.920 [lineCaptureDepth:Science] Running Loop=1
2021-08-12T23:46:15.921Z,1628811975.921 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-12T23:46:15.921Z,1628811975.921 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-12T23:46:15.922Z,1628811975.922 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-12T23:46:15.923Z,1628811975.923 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-12T23:46:15.940Z,1628811975.940 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-12T23:46:15.941Z,1628811975.941 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-12T23:46:15.941Z,1628811975.941 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-12T23:46:15.941Z,1628811975.941 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-12T23:46:15.941Z,1628811975.941 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-12T23:46:15.944Z,1628811975.944 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-12T23:46:15.945Z,1628811975.945 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-12T23:46:15.945Z,1628811975.945 [lineCaptureDepth:Science:F] Stopped
2021-08-12T23:46:15.945Z,1628811975.945 [lineCaptureDepth:Science:E] Stopped
2021-08-12T23:46:15.945Z,1628811975.945 [lineCaptureDepth:Science:D] Stopped
2021-08-12T23:46:15.945Z,1628811975.945 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-12T23:46:15.946Z,1628811975.946 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-12T23:46:15.946Z,1628811975.946 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-12T23:46:15.946Z,1628811975.946 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-12T23:46:15.947Z,1628811975.947 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-12T23:46:15.947Z,1628811975.947 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-12T23:46:15.947Z,1628811975.947 [lineCaptureDepth:Science:A] Stopped
2021-08-12T23:46:15.992Z,1628811975.992 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-12T23:46:16.315Z,1628811976.315 [lineCaptureDepth:D] Stopped
2021-08-12T23:46:16.315Z,1628811976.315 [lineCaptureDepth:E] Running Loop=1
2021-08-12T23:46:16.695Z,1628811976.695 [lineCaptureDepth:E] Stopped
2021-08-12T23:46:16.695Z,1628811976.695 [lineCaptureDepth:G] Running Loop=1
2021-08-12T23:46:17.156Z,1628811977.156 [lineCaptureDepth:G] Stopped
2021-08-12T23:46:17.156Z,1628811977.156 [lineCaptureDepth:H] Running Loop=1
2021-08-12T23:46:17.494Z,1628811977.494 [lineCaptureDepth:H] Stopped
2021-08-12T23:46:17.494Z,1628811977.494 [lineCaptureDepth:J] Running Loop=1
2021-08-12T23:46:17.902Z,1628811977.902 [lineCaptureDepth:J] Stopped
2021-08-12T23:46:17.902Z,1628811977.902 [lineCaptureDepth:M] Running Loop=1
2021-08-12T23:46:18.315Z,1628811978.315 [lineCaptureDepth:M] Stopped
2021-08-12T23:46:18.315Z,1628811978.315 [lineCaptureDepth:N] Running Loop=1
2021-08-12T23:46:18.716Z,1628811978.716 [lineCaptureDepth:N] Stopped
2021-08-12T23:46:18.716Z,1628811978.716 [lineCaptureDepth:O] Running Loop=1
2021-08-12T23:46:18.716Z,1628811978.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:19.097Z,1628811979.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:19.097Z,1628811979.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:19.097Z,1628811979.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:19.098Z,1628811979.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:19.209Z,1628811979.209 [lineCaptureDepth:O] Stopped
2021-08-12T23:46:19.209Z,1628811979.209 [lineCaptureDepth:Lap] Running Loop=1
2021-08-12T23:46:19.209Z,1628811979.209 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-12T23:46:19.209Z,1628811979.209 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-12T23:46:19.507Z,1628811979.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00559,188,80,80,8D,FF
2021-08-12T23:46:19.507Z,1628811979.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:19.507Z,1628811979.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:19.509Z,1628811979.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:19.586Z,1628811979.586 [lineCaptureDepth:Lap:A] Stopped
2021-08-12T23:46:19.586Z,1628811979.586 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-12T23:46:19.586Z,1628811979.586 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-12T23:46:19.629Z,1628811979.629 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-12T23:46:19.915Z,1628811979.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-12T23:46:19.945Z,1628811979.945 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T23:46:19.946Z,1628811979.946 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-12T23:46:19.947Z,1628811979.947 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-12T23:46:19.948Z,1628811979.948 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-12T23:46:19.948Z,1628811979.948 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-12T23:46:19.948Z,1628811979.948 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-12T23:46:19.948Z,1628811979.948 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-12T23:46:19.948Z,1628811979.948 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-12T23:46:19.949Z,1628811979.949 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-12T23:46:19.949Z,1628811979.949 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-12T23:46:19.949Z,1628811979.949 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-12T23:46:19.949Z,1628811979.949 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-12T23:46:19.950Z,1628811979.950 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-12T23:46:19.950Z,1628811979.950 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-12T23:46:20.313Z,1628811980.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,0040C,187,80,80,96,FF
2021-08-12T23:46:20.314Z,1628811980.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:20.369Z,1628811980.369 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-12T23:46:20.369Z,1628811980.369 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-12T23:46:20.777Z,1628811980.777 [Micromodem](INFO): Nmea in: $SNTTA,0.161798,,,,234621.03*43

2021-08-12T23:46:20.811Z,1628811980.811 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-12T23:46:20.812Z,1628811980.812 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-12T23:46:21.166Z,1628811981.166 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-12T23:46:21.166Z,1628811981.166 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-12T23:46:21.587Z,1628811981.587 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-12T23:46:21.587Z,1628811981.587 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-12T23:46:21.592Z,1628811981.592 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-12T23:46:21.592Z,1628811981.592 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-12T23:46:21.592Z,1628811981.592 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-12T23:46:21.592Z,1628811981.592 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-12T23:46:21.592Z,1628811981.592 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T23:46:21.593Z,1628811981.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T23:46:21.594Z,1628811981.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T23:46:21.595Z,1628811981.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-12T23:46:21.974Z,1628811981.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-12T23:46:21.974Z,1628811981.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-12T23:46:21.975Z,1628811981.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-12T23:46:21.976Z,1628811981.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-12T23:46:21.976Z,1628811981.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-12T23:46:21.976Z,1628811981.976 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-12T23:46:22.341Z,1628811982.341 [PowerOnly](INFO): Powering up loadControl
2021-08-12T23:46:22.882Z,1628811982.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:23.181Z,1628811983.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:23.181Z,1628811983.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:23.181Z,1628811983.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:23.182Z,1628811983.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:23.577Z,1628811983.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,0040C,187,80,80,96,FF
2021-08-12T23:46:23.577Z,1628811983.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:23.577Z,1628811983.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:23.579Z,1628811983.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:23.981Z,1628811983.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:24.841Z,1628811984.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,011FE,187,80,80,5F,FF
2021-08-12T23:46:24.842Z,1628811984.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:24.846Z,1628811984.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234625.10*5B

2021-08-12T23:46:24.873Z,1628811984.873 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-12T23:46:25.249Z,1628811985.249 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-12T23:46:27.654Z,1628811987.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:28.037Z,1628811988.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:28.039Z,1628811988.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:28.041Z,1628811988.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:28.047Z,1628811988.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:28.433Z,1628811988.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,011FE,187,80,80,5F,FF
2021-08-12T23:46:28.433Z,1628811988.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:28.433Z,1628811988.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:28.435Z,1628811988.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:28.829Z,1628811988.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:29.655Z,1628811989.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,01212,184,80,80,52,FF
2021-08-12T23:46:29.657Z,1628811989.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:29.661Z,1628811989.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234629.96*59

2021-08-12T23:46:32.485Z,1628811992.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:32.874Z,1628811992.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:32.874Z,1628811992.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:32.874Z,1628811992.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:32.875Z,1628811992.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:33.281Z,1628811993.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,01212,184,80,80,52,FF
2021-08-12T23:46:33.281Z,1628811993.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:33.281Z,1628811993.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:33.283Z,1628811993.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:33.688Z,1628811993.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:34.518Z,1628811994.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234634.81*53

2021-08-12T23:46:35.301Z,1628811995.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBC,000,03F87,184,80,80,7A,FF
2021-08-12T23:46:35.302Z,1628811995.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:38.153Z,1628811998.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:38.532Z,1628811998.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:38.532Z,1628811998.532 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:38.533Z,1628811998.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:38.533Z,1628811998.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:38.963Z,1628811998.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBC,000,03F87,184,80,80,7A,FF
2021-08-12T23:46:38.963Z,1628811998.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:38.964Z,1628811998.964 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:38.966Z,1628811998.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:39.393Z,1628811999.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:40.197Z,1628812000.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,01220,183,80,80,6D,FF
2021-08-12T23:46:40.198Z,1628812000.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:40.200Z,1628812000.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234640.49*54

2021-08-12T23:46:43.120Z,1628812003.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:43.421Z,1628812003.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:43.421Z,1628812003.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:43.421Z,1628812003.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:43.422Z,1628812003.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:43.834Z,1628812003.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,01220,183,80,80,6D,FF
2021-08-12T23:46:43.834Z,1628812003.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:43.834Z,1628812003.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:43.837Z,1628812003.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:44.240Z,1628812004.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:45.061Z,1628812005.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,0122B,186,80,80,65,FF
2021-08-12T23:46:45.061Z,1628812005.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:45.084Z,1628812005.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234645.36*59

2021-08-12T23:46:45.500Z,1628812005.500 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 241.56 m. Transitioning DDM to standby.
2021-08-12T23:46:47.916Z,1628812007.916 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-12T23:46:47.918Z,1628812007.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:48.273Z,1628812008.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:48.273Z,1628812008.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:48.273Z,1628812008.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:48.274Z,1628812008.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:48.326Z,1628812008.326 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-12T23:46:48.326Z,1628812008.326 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-12T23:46:48.326Z,1628812008.326 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-12T23:46:48.637Z,1628812008.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,0122B,186,80,80,65,FF
2021-08-12T23:46:48.637Z,1628812008.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:48.637Z,1628812008.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:48.639Z,1628812008.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:48.757Z,1628812008.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-12T23:46:48.757Z,1628812008.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-12T23:46:48.757Z,1628812008.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-12T23:46:49.077Z,1628812009.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:49.131Z,1628812009.131 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-12T23:46:49.132Z,1628812009.132 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T23:46:49.132Z,1628812009.132 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-12T23:46:49.132Z,1628812009.132 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-12T23:46:49.132Z,1628812009.132 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-12T23:46:49.479Z,1628812009.479 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T23:46:49.479Z,1628812009.479 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T23:46:49.479Z,1628812009.479 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-12T23:46:49.480Z,1628812009.480 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T23:46:49.480Z,1628812009.480 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T23:46:49.481Z,1628812009.481 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-12T23:46:49.481Z,1628812009.481 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T23:46:49.481Z,1628812009.481 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-12T23:46:49.481Z,1628812009.481 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-12T23:46:49.482Z,1628812009.482 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-12T23:46:49.482Z,1628812009.482 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-12T23:46:49.483Z,1628812009.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-12T23:46:49.483Z,1628812009.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-12T23:46:49.483Z,1628812009.483 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T23:46:49.484Z,1628812009.484 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-12T23:46:49.486Z,1628812009.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 241.559982 m 
2021-08-12T23:46:49.486Z,1628812009.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-12T23:46:49.486Z,1628812009.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-12T23:46:49.488Z,1628812009.488 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-12T23:46:49.488Z,1628812009.488 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-12T23:46:49.488Z,1628812009.488 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-12T23:46:49.488Z,1628812009.488 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-12T23:46:49.866Z,1628812009.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,01235,185,80,80,8C,FF
2021-08-12T23:46:49.866Z,1628812009.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:49.871Z,1628812009.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234650.16*5F

2021-08-12T23:46:49.942Z,1628812009.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-12T23:46:49.942Z,1628812009.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T23:46:49.942Z,1628812009.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-12T23:46:49.942Z,1628812009.942 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-12T23:46:49.943Z,1628812009.943 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-12T23:46:49.945Z,1628812009.945 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-12T23:46:49.945Z,1628812009.945 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-12T23:46:50.292Z,1628812010.292 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T23:46:50.292Z,1628812010.292 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-12T23:46:50.292Z,1628812010.292 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-12T23:46:50.295Z,1628812010.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T23:46:50.295Z,1628812010.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-12T23:46:50.295Z,1628812010.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-12T23:46:50.296Z,1628812010.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-12T23:46:50.296Z,1628812010.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T23:46:50.296Z,1628812010.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-12T23:46:50.296Z,1628812010.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T23:46:50.297Z,1628812010.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T23:46:50.297Z,1628812010.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-12T23:46:50.297Z,1628812010.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-12T23:46:50.297Z,1628812010.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-12T23:46:50.297Z,1628812010.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-12T23:46:50.298Z,1628812010.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-12T23:46:50.299Z,1628812010.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-12T23:46:50.299Z,1628812010.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-12T23:46:50.299Z,1628812010.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-12T23:46:50.316Z,1628812010.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-12T23:46:50.317Z,1628812010.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-12T23:46:50.317Z,1628812010.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-12T23:46:50.318Z,1628812010.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-12T23:46:50.319Z,1628812010.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T23:46:50.319Z,1628812010.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-12T23:46:50.319Z,1628812010.319 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-12T23:46:50.322Z,1628812010.322 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-12T23:46:50.322Z,1628812010.322 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-12T23:46:50.322Z,1628812010.322 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-12T23:46:50.322Z,1628812010.322 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-12T23:46:50.323Z,1628812010.323 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-12T23:46:50.323Z,1628812010.323 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-12T23:46:50.323Z,1628812010.323 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-12T23:46:50.695Z,1628812010.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.160004 m, bearing: 240.832880 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T23:46:50.696Z,1628812010.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 240.832880deg and heading rate command to 0 deg/s.
2021-08-12T23:46:52.769Z,1628812012.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:53.177Z,1628812013.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:53.177Z,1628812013.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:53.177Z,1628812013.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:53.178Z,1628812013.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:53.261Z,1628812013.261 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-12T23:46:53.586Z,1628812013.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,01235,185,80,80,8C,FF
2021-08-12T23:46:53.586Z,1628812013.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:53.587Z,1628812013.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:53.589Z,1628812013.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:53.988Z,1628812013.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:54.806Z,1628812014.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,0123F,186,80,80,8B,FF
2021-08-12T23:46:54.806Z,1628812014.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:54.809Z,1628812014.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234655.12*5E

2021-08-12T23:46:55.258Z,1628812015.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.759995 m, bearing: 236.226464 deg, deltaT: 4.887915 s, approachRate: 0.122750 m/s, LOS rate: -0.942409 deg/s, posRepo size: 2
2021-08-12T23:46:55.259Z,1628812015.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.942409 deg/s. Setting heading cmd to target bearing of 236.226464deg and heading rate command to 0 deg/s.
2021-08-12T23:46:57.691Z,1628812017.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:46:58.046Z,1628812018.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:46:58.047Z,1628812018.047 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:46:58.049Z,1628812018.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:46:58.065Z,1628812018.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:46:58.426Z,1628812018.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,0123F,186,80,80,8B,FF
2021-08-12T23:46:58.426Z,1628812018.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:46:58.426Z,1628812018.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:46:58.431Z,1628812018.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:46:58.893Z,1628812018.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:46:59.671Z,1628812019.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,0124B,186,80,80,91,FF
2021-08-12T23:46:59.671Z,1628812019.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:46:59.674Z,1628812019.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234659.95*5D

2021-08-12T23:47:00.133Z,1628812020.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.479980 m, bearing: 236.937049 deg, deltaT: 4.858224 s, approachRate: 0.148199 m/s, LOS rate: 0.146264 deg/s, posRepo size: 3
2021-08-12T23:47:00.135Z,1628812020.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.479980 m,
      bearing: 236.937049 deg,
      approachRate: 0.148199 m/s,
      LOS rate: 0.146264 deg/s,
      cmd update: 0.438793 deg/s,
      cmd heading: 236.226464 deg,
      new cmd heading: 236.226464 deg.

2021-08-12T23:47:02.528Z,1628812022.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:02.928Z,1628812022.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:02.929Z,1628812022.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:02.930Z,1628812022.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:02.931Z,1628812022.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:03.313Z,1628812023.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,0124B,186,80,80,91,FF
2021-08-12T23:47:03.313Z,1628812023.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:03.314Z,1628812023.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:03.317Z,1628812023.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:03.719Z,1628812023.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:04.537Z,1628812024.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,0123A,187,80,80,6F,FF
2021-08-12T23:47:04.537Z,1628812024.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:04.564Z,1628812024.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234704.84*54

2021-08-12T23:47:05.013Z,1628812025.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.459976 m, bearing: 239.211967 deg, deltaT: 4.916973 s, approachRate: -0.207446 m/s, LOS rate: 0.462666 deg/s, posRepo size: 4
2021-08-12T23:47:05.015Z,1628812025.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.459976 m,
      bearing: 239.211967 deg,
      approachRate: -0.207446 m/s,
      LOS rate: 0.462666 deg/s,
      cmd update: 1.387999 deg/s,
      cmd heading: 238.376847 deg,
      new cmd heading: 238.562055 deg.

2021-08-12T23:47:07.362Z,1628812027.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:07.755Z,1628812027.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:07.755Z,1628812027.755 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:07.755Z,1628812027.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:07.756Z,1628812027.756 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:08.149Z,1628812028.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,0123A,187,80,80,6F,FF
2021-08-12T23:47:08.149Z,1628812028.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:08.149Z,1628812028.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:08.151Z,1628812028.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:08.561Z,1628812028.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:09.010Z,1628812029.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00CD5,186,80,80,78,FF
2021-08-12T23:47:09.011Z,1628812029.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:09.409Z,1628812029.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234709.67*54

2021-08-12T23:47:09.432Z,1628812029.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 238.583453 deg, deltaT: 4.532820 s, approachRate: -18.280005 m/s, LOS rate: -0.138658 deg/s, posRepo size: 4
2021-08-12T23:47:09.435Z,1628812029.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 238.583453 deg,
      approachRate: -18.280005 m/s,
      LOS rate: -0.138658 deg/s,
      cmd update: -0.415975 deg/s,
      cmd heading: 244.682481 deg,
      new cmd heading: 245.095586 deg.

2021-08-12T23:47:11.831Z,1628812031.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:12.207Z,1628812032.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:12.207Z,1628812032.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:12.207Z,1628812032.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:12.224Z,1628812032.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:12.611Z,1628812032.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00CD5,186,80,80,78,FF
2021-08-12T23:47:12.611Z,1628812032.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:12.611Z,1628812032.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:12.613Z,1628812032.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:13.018Z,1628812033.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:13.850Z,1628812033.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,011FE,186,80,80,72,FF
2021-08-12T23:47:13.851Z,1628812033.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:13.855Z,1628812033.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234714.14*5C

2021-08-12T23:47:14.334Z,1628812034.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.859985 m, bearing: 241.796319 deg, deltaT: 4.803875 s, approachRate: 16.499176 m/s, LOS rate: 0.668807 deg/s, posRepo size: 4
2021-08-12T23:47:14.343Z,1628812034.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.859985 m,
      bearing: 241.796319 deg,
      approachRate: 16.499176 m/s,
      LOS rate: 0.668807 deg/s,
      cmd update: 2.006422 deg/s,
      cmd heading: 242.684102 deg,
      new cmd heading: 242.520950 deg.

2021-08-12T23:47:16.754Z,1628812036.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:17.097Z,1628812037.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:17.097Z,1628812037.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:17.097Z,1628812037.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:17.098Z,1628812037.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:17.505Z,1628812037.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,011FE,186,80,80,72,FF
2021-08-12T23:47:17.505Z,1628812037.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:17.506Z,1628812037.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:17.507Z,1628812037.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:17.944Z,1628812037.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:18.761Z,1628812038.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,011D1,186,80,80,5F,FF
2021-08-12T23:47:18.763Z,1628812038.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:18.787Z,1628812038.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234719.03*57

2021-08-12T23:47:19.226Z,1628812039.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.159988 m, bearing: 243.840431 deg, deltaT: 4.980219 s, approachRate: -0.542144 m/s, LOS rate: 0.410446 deg/s, posRepo size: 4
2021-08-12T23:47:19.232Z,1628812039.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.159988 m,
      bearing: 243.840431 deg,
      approachRate: -0.542144 m/s,
      LOS rate: 0.410446 deg/s,
      cmd update: 1.231338 deg/s,
      cmd heading: 252.621405 deg,
      new cmd heading: 253.294032 deg.

2021-08-12T23:47:21.643Z,1628812041.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:22.029Z,1628812042.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:22.030Z,1628812042.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:22.030Z,1628812042.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:22.036Z,1628812042.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:22.401Z,1628812042.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,011D1,186,80,80,5F,FF
2021-08-12T23:47:22.401Z,1628812042.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:22.401Z,1628812042.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:22.403Z,1628812042.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:22.837Z,1628812042.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:23.655Z,1628812043.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,01199,186,80,80,58,FF
2021-08-12T23:47:23.655Z,1628812043.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:23.659Z,1628812043.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234723.93*57

2021-08-12T23:47:24.105Z,1628812044.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.799988 m, bearing: 241.154828 deg, deltaT: 4.825974 s, approachRate: -0.696233 m/s, LOS rate: -0.556489 deg/s, posRepo size: 4
2021-08-12T23:47:24.107Z,1628812044.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.799988 m,
      bearing: 241.154828 deg,
      approachRate: -0.696233 m/s,
      LOS rate: -0.556489 deg/s,
      cmd update: -1.669468 deg/s,
      cmd heading: 258.589769 deg,
      new cmd heading: 259.020431 deg.

2021-08-12T23:47:26.535Z,1628812046.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:26.927Z,1628812046.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:26.938Z,1628812046.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:26.939Z,1628812046.939 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:26.972Z,1628812046.972 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:26.972Z,1628812046.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,01199,186,80,80,58,FF
2021-08-12T23:47:26.972Z,1628812046.972 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:26.973Z,1628812046.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:26.974Z,1628812046.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:27.492Z,1628812047.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:27.905Z,1628812047.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,0116A,185,80,80,66,FF
2021-08-12T23:47:27.906Z,1628812047.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:28.309Z,1628812048.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234728.50*53

2021-08-12T23:47:28.336Z,1628812048.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.979996 m, bearing: 241.733017 deg, deltaT: 4.253789 s, approachRate: -0.662937 m/s, LOS rate: 0.135923 deg/s, posRepo size: 4
2021-08-12T23:47:28.338Z,1628812048.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.979996 m,
      bearing: 241.733017 deg,
      approachRate: -0.662937 m/s,
      LOS rate: 0.135923 deg/s,
      cmd update: 0.407770 deg/s,
      cmd heading: 251.487924 deg,
      new cmd heading: 250.927248 deg.

2021-08-12T23:47:30.810Z,1628812050.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:31.129Z,1628812051.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:31.130Z,1628812051.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:31.130Z,1628812051.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:31.130Z,1628812051.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:31.529Z,1628812051.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,0116A,185,80,80,66,FF
2021-08-12T23:47:31.529Z,1628812051.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:31.529Z,1628812051.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:31.531Z,1628812051.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:31.957Z,1628812051.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:32.783Z,1628812052.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,01153,185,80,80,64,FF
2021-08-12T23:47:32.784Z,1628812052.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:32.787Z,1628812052.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234733.06*5A

2021-08-12T23:47:33.308Z,1628812053.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.599976 m, bearing: 238.879883 deg, deltaT: 4.957483 s, approachRate: -0.278371 m/s, LOS rate: -0.575521 deg/s, posRepo size: 4
2021-08-12T23:47:33.310Z,1628812053.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.599976 m,
      bearing: 238.879883 deg,
      approachRate: -0.278371 m/s,
      LOS rate: -0.575521 deg/s,
      cmd update: -1.726562 deg/s,
      cmd heading: 253.492502 deg,
      new cmd heading: 253.655613 deg.

2021-08-12T23:47:35.681Z,1628812055.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:36.089Z,1628812056.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:36.089Z,1628812056.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:36.089Z,1628812056.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:36.090Z,1628812056.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:36.469Z,1628812056.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,01153,185,80,80,64,FF
2021-08-12T23:47:36.469Z,1628812056.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:36.469Z,1628812056.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:36.471Z,1628812056.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:36.900Z,1628812056.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:37.701Z,1628812057.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,01118,187,80,80,62,FF
2021-08-12T23:47:37.702Z,1628812057.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:37.704Z,1628812057.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234737.99*58

2021-08-12T23:47:38.149Z,1628812058.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.059998 m, bearing: 235.918532 deg, deltaT: 4.806628 s, approachRate: -0.736478 m/s, LOS rate: -0.616097 deg/s, posRepo size: 4
2021-08-12T23:47:38.151Z,1628812058.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.059998 m,
      bearing: 235.918532 deg,
      approachRate: -0.736478 m/s,
      LOS rate: -0.616097 deg/s,
      cmd update: -1.848292 deg/s,
      cmd heading: 245.108187 deg,
      new cmd heading: 244.444490 deg.

2021-08-12T23:47:40.558Z,1628812060.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:40.937Z,1628812060.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:40.938Z,1628812060.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:40.938Z,1628812060.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:40.941Z,1628812060.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:41.321Z,1628812061.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,01118,187,80,80,62,FF
2021-08-12T23:47:41.321Z,1628812061.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:41.321Z,1628812061.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:41.323Z,1628812061.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:41.733Z,1628812061.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:42.555Z,1628812062.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,010F3,185,80,80,56,FF
2021-08-12T23:47:42.555Z,1628812062.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:42.579Z,1628812062.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234742.85*57

2021-08-12T23:47:43.047Z,1628812063.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.839981 m, bearing: 236.977839 deg, deltaT: 4.827072 s, approachRate: -0.459910 m/s, LOS rate: 0.219451 deg/s, posRepo size: 4
2021-08-12T23:47:43.053Z,1628812063.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.839981 m,
      bearing: 236.977839 deg,
      approachRate: -0.459910 m/s,
      LOS rate: 0.219451 deg/s,
      cmd update: 0.658354 deg/s,
      cmd heading: 236.178897 deg,
      new cmd heading: 235.343838 deg.

2021-08-12T23:47:45.023Z,1628812065.023 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-12T23:47:45.388Z,1628812065.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:45.761Z,1628812065.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:45.761Z,1628812065.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:45.761Z,1628812065.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:45.762Z,1628812065.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:46.165Z,1628812066.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,010F3,185,80,80,56,FF
2021-08-12T23:47:46.165Z,1628812066.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:46.165Z,1628812066.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:46.167Z,1628812066.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:46.581Z,1628812066.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:47.405Z,1628812067.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,010C3,184,80,80,6B,FF
2021-08-12T23:47:47.406Z,1628812067.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:47.408Z,1628812067.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234747.69*50

2021-08-12T23:47:47.827Z,1628812067.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.959976 m, bearing: 239.290760 deg, deltaT: 4.839375 s, approachRate: -0.595119 m/s, LOS rate: 0.477938 deg/s, posRepo size: 4
2021-08-12T23:47:47.830Z,1628812067.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.959976 m,
      bearing: 239.290760 deg,
      approachRate: -0.595119 m/s,
      LOS rate: 0.477938 deg/s,
      cmd update: 1.433814 deg/s,
      cmd heading: 239.365059 deg,
      new cmd heading: 239.621227 deg.

2021-08-12T23:47:50.243Z,1628812070.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:50.609Z,1628812070.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:50.609Z,1628812070.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:50.609Z,1628812070.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:50.610Z,1628812070.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:51.013Z,1628812071.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,010C3,184,80,80,6B,FF
2021-08-12T23:47:51.013Z,1628812071.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:51.013Z,1628812071.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:51.015Z,1628812071.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:51.433Z,1628812071.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:52.249Z,1628812072.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,01086,186,80,80,70,FF
2021-08-12T23:47:52.250Z,1628812072.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:47:52.252Z,1628812072.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234752.54*5A

2021-08-12T23:47:52.671Z,1628812072.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.300003 m, bearing: 239.230845 deg, deltaT: 4.836357 s, approachRate: -0.756762 m/s, LOS rate: -0.012388 deg/s, posRepo size: 4
2021-08-12T23:47:52.675Z,1628812072.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.300003 m,
      bearing: 239.230845 deg,
      approachRate: -0.756762 m/s,
      LOS rate: -0.012388 deg/s,
      cmd update: -0.037165 deg/s,
      cmd heading: 246.296258 deg,
      new cmd heading: 246.873841 deg.

2021-08-12T23:47:53.866Z,1628812073.866 [PowerOnly](INFO): Powering down loadControl
2021-08-12T23:47:55.125Z,1628812075.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:55.465Z,1628812075.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:47:55.465Z,1628812075.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:47:55.465Z,1628812075.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:47:55.466Z,1628812075.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:47:55.871Z,1628812075.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,01086,186,80,80,70,FF
2021-08-12T23:47:55.871Z,1628812075.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:47:55.871Z,1628812075.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:47:55.874Z,1628812075.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:47:56.289Z,1628812076.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:47:57.114Z,1628812077.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234757.40*5A

2021-08-12T23:47:57.936Z,1628812077.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:47:59.528Z,1628812079.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,70,FF
2021-08-12T23:47:59.529Z,1628812079.529 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,70,FF
2021-08-12T23:47:59.529Z,1628812079.529 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:48:00.759Z,1628812080.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:01.126Z,1628812081.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:01.127Z,1628812081.127 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:01.127Z,1628812081.127 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:01.128Z,1628812081.128 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:01.541Z,1628812081.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,70,FF
2021-08-12T23:48:01.541Z,1628812081.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:01.541Z,1628812081.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:01.544Z,1628812081.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:01.951Z,1628812081.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:02.765Z,1628812082.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,0103B,186,80,80,80,FF
2021-08-12T23:48:02.765Z,1628812082.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:02.768Z,1628812082.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234803.07*57

2021-08-12T23:48:03.237Z,1628812083.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.799988 m, bearing: 237.082888 deg, deltaT: 10.574425 s, approachRate: -0.425557 m/s, LOS rate: -0.203128 deg/s, posRepo size: 4
2021-08-12T23:48:03.239Z,1628812083.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.799988 m,
      bearing: 237.082888 deg,
      approachRate: -0.425557 m/s,
      LOS rate: -0.203128 deg/s,
      cmd update: -0.609383 deg/s,
      cmd heading: 245.903555 deg,
      new cmd heading: 245.888642 deg.

2021-08-12T23:48:05.592Z,1628812085.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:06.001Z,1628812086.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:06.002Z,1628812086.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:06.002Z,1628812086.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:06.003Z,1628812086.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:06.381Z,1628812086.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,0103B,186,80,80,80,FF
2021-08-12T23:48:06.381Z,1628812086.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:06.381Z,1628812086.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:06.383Z,1628812086.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:06.796Z,1628812086.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:07.618Z,1628812087.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,01E95,185,80,80,96,FF
2021-08-12T23:48:07.619Z,1628812087.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:07.638Z,1628812087.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234807.91*5C

2021-08-12T23:48:08.065Z,1628812088.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 432.239990 m, bearing: 236.591196 deg, deltaT: 4.821352 s, approachRate: 45.721615 m/s, LOS rate: -0.101982 deg/s, posRepo size: 4
2021-08-12T23:48:08.067Z,1628812088.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 432.239990 m,
      bearing: 236.591196 deg,
      approachRate: 45.721615 m/s,
      LOS rate: -0.101982 deg/s,
      cmd update: -0.305946 deg/s,
      cmd heading: 242.961731 deg,
      new cmd heading: 242.716619 deg.

2021-08-12T23:48:10.484Z,1628812090.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:10.817Z,1628812090.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:10.817Z,1628812090.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:10.817Z,1628812090.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:10.818Z,1628812090.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:11.225Z,1628812091.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,01E95,185,80,80,96,FF
2021-08-12T23:48:11.225Z,1628812091.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:11.225Z,1628812091.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:11.227Z,1628812091.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:11.661Z,1628812091.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:12.466Z,1628812092.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,00FE4,186,80,80,5E,FF
2021-08-12T23:48:12.466Z,1628812092.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:12.499Z,1628812092.499 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234812.75*52

2021-08-12T23:48:12.926Z,1628812092.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.579987 m, bearing: 238.637439 deg, deltaT: 4.866995 s, approachRate: -46.365364 m/s, LOS rate: 0.420432 deg/s, posRepo size: 4
2021-08-12T23:48:12.966Z,1628812092.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.579987 m,
      bearing: 238.637439 deg,
      approachRate: -46.365364 m/s,
      LOS rate: 0.420432 deg/s,
      cmd update: 1.261297 deg/s,
      cmd heading: 241.472701 deg,
      new cmd heading: 241.355737 deg.

2021-08-12T23:48:15.334Z,1628812095.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:15.665Z,1628812095.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:15.665Z,1628812095.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:15.665Z,1628812095.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:15.666Z,1628812095.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:16.081Z,1628812096.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,00FE4,186,80,80,5E,FF
2021-08-12T23:48:16.082Z,1628812096.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:16.082Z,1628812096.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:16.083Z,1628812096.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:16.485Z,1628812096.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:17.281Z,1628812097.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00FAE,186,80,80,79,FF
2021-08-12T23:48:17.282Z,1628812097.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:17.285Z,1628812097.285 [Micromodem](INFO): Nmea in: $SNTTA,0.361786,0.361661,,,234817.61*5A

2021-08-12T23:48:17.728Z,1628812097.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.339981 m, bearing: 239.450149 deg, deltaT: 4.871629 s, approachRate: -0.665076 m/s, LOS rate: 0.166825 deg/s, posRepo size: 4
2021-08-12T23:48:17.730Z,1628812097.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 239.450149 deg,
      approachRate: -0.665076 m/s,
      LOS rate: 0.166825 deg/s,
      cmd update: 0.500476 deg/s,
      cmd heading: 247.611844 deg,
      new cmd heading: 248.028901 deg.

2021-08-12T23:48:19.350Z,1628812099.350 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T23:48:19.351Z,1628812099.351 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T23:48:19.351Z,1628812099.351 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T23:48:19.351Z,1628812099.351 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:48:19.351Z,1628812099.351 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T23:48:19.351Z,1628812099.351 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T23:48:19.353Z,1628812099.353 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-12T23:48:19.861Z,1628812099.861 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T23:48:19.861Z,1628812099.861 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T23:48:19.861Z,1628812099.861 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T23:48:19.861Z,1628812099.861 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:48:19.861Z,1628812099.861 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T23:48:20.187Z,1628812100.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:20.591Z,1628812100.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:20.592Z,1628812100.592 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:20.592Z,1628812100.592 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:20.593Z,1628812100.593 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:21.017Z,1628812101.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00FAE,186,80,80,79,FF
2021-08-12T23:48:21.017Z,1628812101.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:21.018Z,1628812101.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:21.019Z,1628812101.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:21.484Z,1628812101.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:21.866Z,1628812101.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,00FAE,186,80,80,79,FF
2021-08-12T23:48:21.867Z,1628812101.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:22.289Z,1628812102.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234822.54*52

2021-08-12T23:48:22.342Z,1628812102.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.339981 m, bearing: 236.378258 deg, deltaT: 4.520589 s, approachRate: 0.000000 m/s, LOS rate: -0.679533 deg/s, posRepo size: 4
2021-08-12T23:48:22.348Z,1628812102.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 236.378258 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.679533 deg/s,
      cmd update: -2.038600 deg/s,
      cmd heading: 249.872564 deg,
      new cmd heading: 250.086779 deg.

2021-08-12T23:48:24.788Z,1628812104.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:25.089Z,1628812105.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:25.089Z,1628812105.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:25.090Z,1628812105.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:25.091Z,1628812105.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:25.507Z,1628812105.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,00FAE,186,80,80,79,FF
2021-08-12T23:48:25.507Z,1628812105.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:25.507Z,1628812105.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:25.511Z,1628812105.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:25.909Z,1628812105.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:26.726Z,1628812106.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0ED,000,00F59,186,80,80,78,FF
2021-08-12T23:48:26.727Z,1628812106.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:26.729Z,1628812106.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234827.04*52

2021-08-12T23:48:27.242Z,1628812107.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.239990 m, bearing: 240.524237 deg, deltaT: 4.819371 s, approachRate: -1.058228 m/s, LOS rate: 0.860274 deg/s, posRepo size: 4
2021-08-12T23:48:27.248Z,1628812107.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 240.524237 deg,
      approachRate: -1.058228 m/s,
      LOS rate: 0.860274 deg/s,
      cmd update: 2.580822 deg/s,
      cmd heading: 240.024175 deg,
      new cmd heading: 239.011702 deg.

2021-08-12T23:48:29.616Z,1628812109.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:29.949Z,1628812109.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:29.950Z,1628812109.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:29.950Z,1628812109.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:29.951Z,1628812109.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:30.366Z,1628812110.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0ED,000,00F59,186,80,80,78,FF
2021-08-12T23:48:30.366Z,1628812110.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:30.366Z,1628812110.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:30.369Z,1628812110.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:30.792Z,1628812110.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:31.581Z,1628812111.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00F2B,185,80,80,4F,FF
2021-08-12T23:48:31.581Z,1628812111.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:31.584Z,1628812111.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234831.89*50

2021-08-12T23:48:32.059Z,1628812112.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.479996 m, bearing: 237.910215 deg, deltaT: 4.854447 s, approachRate: -0.568550 m/s, LOS rate: -0.538480 deg/s, posRepo size: 4
2021-08-12T23:48:32.066Z,1628812112.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.479996 m,
      bearing: 237.910215 deg,
      approachRate: -0.568550 m/s,
      LOS rate: -0.538480 deg/s,
      cmd update: -1.615440 deg/s,
      cmd heading: 252.552780 deg,
      new cmd heading: 253.739791 deg.

2021-08-12T23:48:34.415Z,1628812114.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:34.797Z,1628812114.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:34.797Z,1628812114.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:34.797Z,1628812114.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:34.798Z,1628812114.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:35.185Z,1628812115.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00F2B,185,80,80,4F,FF
2021-08-12T23:48:35.185Z,1628812115.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:35.185Z,1628812115.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:35.187Z,1628812115.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:35.600Z,1628812115.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:36.425Z,1628812116.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00F1A,185,80,80,79,FF
2021-08-12T23:48:36.425Z,1628812116.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:36.451Z,1628812116.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234836.71*50

2021-08-12T23:48:36.835Z,1628812116.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.459991 m, bearing: 238.699375 deg, deltaT: 4.893788 s, approachRate: -0.208428 m/s, LOS rate: 0.161258 deg/s, posRepo size: 4
2021-08-12T23:48:36.838Z,1628812116.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.459991 m,
      bearing: 238.699375 deg,
      approachRate: -0.208428 m/s,
      LOS rate: 0.161258 deg/s,
      cmd update: 0.483773 deg/s,
      cmd heading: 244.672741 deg,
      new cmd heading: 244.094270 deg.

2021-08-12T23:48:39.335Z,1628812119.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:39.633Z,1628812119.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:39.633Z,1628812119.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:39.633Z,1628812119.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:39.634Z,1628812119.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:40.037Z,1628812120.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00F1A,185,80,80,79,FF
2021-08-12T23:48:40.037Z,1628812120.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:40.037Z,1628812120.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:40.039Z,1628812120.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:40.441Z,1628812120.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:41.282Z,1628812121.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234841.56*55

2021-08-12T23:48:42.057Z,1628812122.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,03D13,186,80,80,A5,FF
2021-08-12T23:48:42.058Z,1628812122.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:42.488Z,1628812122.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 900.600037 m, bearing: 233.177385 deg, deltaT: 5.616000 s, approachRate: 125.737183 m/s, LOS rate: -0.983260 deg/s, posRepo size: 4
2021-08-12T23:48:42.490Z,1628812122.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 900.600037 m,
      bearing: 233.177385 deg,
      approachRate: 125.737183 m/s,
      LOS rate: -0.983260 deg/s,
      cmd update: -2.949781 deg/s,
      cmd heading: 247.385500 deg,
      new cmd heading: 247.580262 deg.

2021-08-12T23:48:44.982Z,1628812124.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:45.285Z,1628812125.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:45.286Z,1628812125.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:45.286Z,1628812125.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:45.287Z,1628812125.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:45.690Z,1628812125.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,03D13,186,80,80,A5,FF
2021-08-12T23:48:45.690Z,1628812125.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:45.690Z,1628812125.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:45.717Z,1628812125.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:46.101Z,1628812126.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:46.517Z,1628812126.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,005A4,186,80,80,78,FF
2021-08-12T23:48:46.518Z,1628812126.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:46.949Z,1628812126.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234847.24*56

2021-08-12T23:48:47.007Z,1628812127.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 235.943803 deg, deltaT: 4.471919 s, approachRate: -190.401489 m/s, LOS rate: 0.618620 deg/s, posRepo size: 4
2021-08-12T23:48:47.009Z,1628812127.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 235.943803 deg,
      approachRate: -190.401489 m/s,
      LOS rate: 0.618620 deg/s,
      cmd update: 1.855860 deg/s,
      cmd heading: 234.133793 deg,
      new cmd heading: 232.867803 deg.

2021-08-12T23:48:49.372Z,1628812129.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:49.733Z,1628812129.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:49.733Z,1628812129.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:49.733Z,1628812129.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:49.734Z,1628812129.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:50.137Z,1628812130.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,005A4,186,80,80,78,FF
2021-08-12T23:48:50.137Z,1628812130.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:50.137Z,1628812130.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:50.139Z,1628812130.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:50.553Z,1628812130.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:51.005Z,1628812131.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00E94,186,80,80,AC,FF
2021-08-12T23:48:51.005Z,1628812131.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:51.404Z,1628812131.404 [Micromodem](INFO): Nmea in: $SNTTA,0.292990,,,,234851.66*40

2021-08-12T23:48:51.424Z,1628812131.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 238.571322 deg, deltaT: 4.520527 s, approachRate: 30.368141 m/s, LOS rate: 0.581242 deg/s, posRepo size: 4
2021-08-12T23:48:51.426Z,1628812131.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 238.571322 deg,
      approachRate: 30.368141 m/s,
      LOS rate: 0.581242 deg/s,
      cmd update: 1.743725 deg/s,
      cmd heading: 242.523065 deg,
      new cmd heading: 243.128090 deg.

2021-08-12T23:48:53.796Z,1628812133.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:54.204Z,1628812134.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:54.204Z,1628812134.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:54.204Z,1628812134.204 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:54.205Z,1628812134.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:54.586Z,1628812134.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00E94,186,80,80,AC,FF
2021-08-12T23:48:54.586Z,1628812134.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:54.586Z,1628812134.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:54.587Z,1628812134.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:55.016Z,1628812135.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:55.398Z,1628812135.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,00E94,186,80,80,AC,FF
2021-08-12T23:48:55.398Z,1628812135.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:48:55.837Z,1628812135.837 [Micromodem](INFO): Nmea in: $SNTTA,,0.068658,,,234856.11*4B

2021-08-12T23:48:55.896Z,1628812135.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 246.731240 deg, deltaT: 4.385594 s, approachRate: 0.000000 m/s, LOS rate: 1.860619 deg/s, posRepo size: 4
2021-08-12T23:48:55.898Z,1628812135.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 246.731240 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.860619 deg/s,
      cmd update: 5.581856 deg/s,
      cmd heading: 250.120400 deg,
      new cmd heading: 250.889811 deg.

2021-08-12T23:48:58.250Z,1628812138.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:48:58.626Z,1628812138.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:48:58.626Z,1628812138.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:48:58.626Z,1628812138.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:48:58.627Z,1628812138.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:48:59.030Z,1628812139.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,00E94,186,80,80,AC,FF
2021-08-12T23:48:59.030Z,1628812139.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:48:59.030Z,1628812139.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:48:59.032Z,1628812139.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:48:59.483Z,1628812139.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:48:59.517Z,1628812139.517 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (2 active estimators).
2021-08-12T23:48:59.877Z,1628812139.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00E4C,186,80,80,AC,FF
2021-08-12T23:48:59.879Z,1628812139.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:00.301Z,1628812140.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234900.55*52

2021-08-12T23:49:00.327Z,1628812140.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.100006 m, bearing: 231.219771 deg, deltaT: 4.410989 s, approachRate: -0.979370 m/s, LOS rate: -3.516551 deg/s, posRepo size: 4
2021-08-12T23:49:00.354Z,1628812140.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.100006 m,
      bearing: 231.219771 deg,
      approachRate: -0.979370 m/s,
      LOS rate: -3.516551 deg/s,
      cmd update: -10.549654 deg/s,
      cmd heading: 274.923198 deg,
      new cmd heading: 277.316988 deg.

2021-08-12T23:49:02.443Z,1628812142.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:02.781Z,1628812142.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:02.781Z,1628812142.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:02.781Z,1628812142.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:02.782Z,1628812142.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:03.241Z,1628812143.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00E4C,186,80,80,AC,FF
2021-08-12T23:49:03.241Z,1628812143.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:03.241Z,1628812143.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:03.243Z,1628812143.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:03.659Z,1628812143.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:04.485Z,1628812144.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:04.485Z,1628812144.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:04.489Z,1628812144.489 [Micromodem](INFO): Nmea in: $SNTTA,0.132267,,,,234904.77*4B

2021-08-12T23:49:04.955Z,1628812144.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 234.470723 deg, deltaT: 4.621160 s, approachRate: -0.363544 m/s, LOS rate: 0.703493 deg/s, posRepo size: 4
2021-08-12T23:49:04.962Z,1628812144.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 234.470723 deg,
      approachRate: -0.363544 m/s,
      LOS rate: 0.703493 deg/s,
      cmd update: 2.110478 deg/s,
      cmd heading: 226.219138 deg,
      new cmd heading: 221.693262 deg.

2021-08-12T23:49:07.335Z,1628812147.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:07.685Z,1628812147.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:07.685Z,1628812147.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:07.685Z,1628812147.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:07.686Z,1628812147.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:08.093Z,1628812148.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:08.093Z,1628812148.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:08.093Z,1628812148.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:08.094Z,1628812148.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:08.493Z,1628812148.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:08.913Z,1628812148.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:08.914Z,1628812148.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:09.333Z,1628812149.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234909.62*5F

2021-08-12T23:49:09.390Z,1628812149.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 235.116121 deg, deltaT: 4.497297 s, approachRate: 0.000000 m/s, LOS rate: 0.143508 deg/s, posRepo size: 4
2021-08-12T23:49:09.393Z,1628812149.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 235.116121 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.143508 deg/s,
      cmd update: 0.430524 deg/s,
      cmd heading: 235.703265 deg,
      new cmd heading: 236.508628 deg.

2021-08-12T23:49:11.747Z,1628812151.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:12.132Z,1628812152.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:12.133Z,1628812152.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:12.133Z,1628812152.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:12.134Z,1628812152.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:12.529Z,1628812152.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:12.529Z,1628812152.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:12.529Z,1628812152.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:12.531Z,1628812152.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:12.980Z,1628812152.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:13.342Z,1628812153.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:13.342Z,1628812153.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:13.786Z,1628812153.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234914.05*52

2021-08-12T23:49:13.808Z,1628812153.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 245.310752 deg, deltaT: 4.372588 s, approachRate: 0.000000 m/s, LOS rate: 2.331487 deg/s, posRepo size: 4
2021-08-12T23:49:13.810Z,1628812153.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 245.310752 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.331487 deg/s,
      cmd update: 6.994460 deg/s,
      cmd heading: 237.578638 deg,
      new cmd heading: 237.769280 deg.

2021-08-12T23:49:16.255Z,1628812156.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:16.597Z,1628812156.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:16.597Z,1628812156.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:16.597Z,1628812156.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:16.598Z,1628812156.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:17.013Z,1628812157.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:17.013Z,1628812157.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:17.013Z,1628812157.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:17.015Z,1628812157.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:17.409Z,1628812157.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:17.821Z,1628812157.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:17.822Z,1628812157.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:18.274Z,1628812158.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234918.54*5A

2021-08-12T23:49:18.292Z,1628812158.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 242.671922 deg, deltaT: 4.498514 s, approachRate: 0.000000 m/s, LOS rate: -0.586600 deg/s, posRepo size: 4
2021-08-12T23:49:18.294Z,1628812158.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 242.671922 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.586600 deg/s,
      cmd update: -1.759801 deg/s,
      cmd heading: 269.188436 deg,
      new cmd heading: 272.043036 deg.

2021-08-12T23:49:20.679Z,1628812160.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:21.037Z,1628812161.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:21.037Z,1628812161.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:21.037Z,1628812161.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:21.038Z,1628812161.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:21.445Z,1628812161.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:21.445Z,1628812161.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:21.445Z,1628812161.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:21.456Z,1628812161.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:21.864Z,1628812161.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:22.254Z,1628812162.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FD,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:22.254Z,1628812162.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:22.697Z,1628812162.697 [Micromodem](INFO): Nmea in: $SNTTA,0.116267,,,,234922.98*48

2021-08-12T23:49:22.720Z,1628812162.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 231.572236 deg, deltaT: 4.437129 s, approachRate: 0.000000 m/s, LOS rate: -2.501547 deg/s, posRepo size: 4
2021-08-12T23:49:22.722Z,1628812162.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 231.572236 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.501547 deg/s,
      cmd update: -7.504640 deg/s,
      cmd heading: 261.387367 deg,
      new cmd heading: 260.678857 deg.

2021-08-12T23:49:25.177Z,1628812165.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:25.493Z,1628812165.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:25.493Z,1628812165.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:25.493Z,1628812165.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:25.494Z,1628812165.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:25.901Z,1628812165.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FD,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:25.901Z,1628812165.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:25.901Z,1628812165.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:25.903Z,1628812165.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:26.301Z,1628812166.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:26.331Z,1628812166.331 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T23:49:26.698Z,1628812166.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FD,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:26.698Z,1628812166.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:27.137Z,1628812167.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234927.43*50

2021-08-12T23:49:27.215Z,1628812167.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.420013 m, bearing: 231.849296 deg, deltaT: 4.417916 s, approachRate: 0.000000 m/s, LOS rate: 0.062713 deg/s, posRepo size: 4
2021-08-12T23:49:27.221Z,1628812167.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 231.849296 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.062713 deg/s,
      cmd update: 0.188138 deg/s,
      cmd heading: 228.343144 deg,
      new cmd heading: 224.632002 deg.

2021-08-12T23:49:29.562Z,1628812169.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:29.929Z,1628812169.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:29.929Z,1628812169.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:29.929Z,1628812169.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:29.930Z,1628812169.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:30.333Z,1628812170.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FD,000,00E30,189,80,80,9F,FF
2021-08-12T23:49:30.333Z,1628812170.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:30.333Z,1628812170.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:30.335Z,1628812170.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:30.823Z,1628812170.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:31.265Z,1628812171.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,00D42,185,80,80,7E,FF
2021-08-12T23:49:31.265Z,1628812171.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:31.715Z,1628812171.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234931.86*5E

2021-08-12T23:49:31.735Z,1628812171.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.139999 m, bearing: 243.380103 deg, deltaT: 4.611990 s, approachRate: -3.096280 m/s, LOS rate: 2.500181 deg/s, posRepo size: 4
2021-08-12T23:49:31.737Z,1628812171.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.139999 m,
      bearing: 243.380103 deg,
      approachRate: -3.096280 m/s,
      LOS rate: 2.500181 deg/s,
      cmd update: 7.500542 deg/s,
      cmd heading: 229.214539 deg,
      new cmd heading: 229.286665 deg.

2021-08-12T23:49:34.148Z,1628812174.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:34.534Z,1628812174.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:34.534Z,1628812174.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:34.534Z,1628812174.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:34.535Z,1628812174.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:34.973Z,1628812174.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,00D42,185,80,80,7E,FF
2021-08-12T23:49:34.973Z,1628812174.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:34.974Z,1628812174.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:34.982Z,1628812174.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:35.509Z,1628812175.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:35.896Z,1628812175.896 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00D10,183,80,80,92,FF
2021-08-12T23:49:35.897Z,1628812175.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:36.317Z,1628812176.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234936.51*53

2021-08-12T23:49:36.371Z,1628812176.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.140015 m, bearing: 238.925399 deg, deltaT: 4.559704 s, approachRate: -0.657934 m/s, LOS rate: -0.976972 deg/s, posRepo size: 4
2021-08-12T23:49:36.378Z,1628812176.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 238.925399 deg,
      approachRate: -0.657934 m/s,
      LOS rate: -0.976972 deg/s,
      cmd update: -2.930917 deg/s,
      cmd heading: 263.435137 deg,
      new cmd heading: 266.864369 deg.

2021-08-12T23:49:38.771Z,1628812178.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:39.113Z,1628812179.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:39.113Z,1628812179.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:39.113Z,1628812179.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:39.114Z,1628812179.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:39.529Z,1628812179.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00D10,183,80,80,92,FF
2021-08-12T23:49:39.529Z,1628812179.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:39.529Z,1628812179.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:39.531Z,1628812179.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:39.925Z,1628812179.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:40.331Z,1628812180.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00876,186,80,80,A8,FF
2021-08-12T23:49:40.331Z,1628812180.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:40.757Z,1628812180.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234941.06*51

2021-08-12T23:49:40.795Z,1628812180.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 234.853705 deg, deltaT: 4.503145 s, approachRate: -15.695701 m/s, LOS rate: -0.904189 deg/s, posRepo size: 4
2021-08-12T23:49:40.797Z,1628812180.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.459999 m,
      bearing: 234.853705 deg,
      approachRate: -15.695701 m/s,
      LOS rate: -0.904189 deg/s,
      cmd update: -2.712567 deg/s,
      cmd heading: 250.261180 deg,
      new cmd heading: 249.131323 deg.

2021-08-12T23:49:43.253Z,1628812183.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:43.566Z,1628812183.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:43.566Z,1628812183.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:43.567Z,1628812183.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:43.567Z,1628812183.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:43.957Z,1628812183.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00876,186,80,80,A8,FF
2021-08-12T23:49:43.957Z,1628812183.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:43.957Z,1628812183.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:43.959Z,1628812183.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:44.357Z,1628812184.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:44.766Z,1628812184.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,00CAD,186,80,80,A8,FF
2021-08-12T23:49:44.766Z,1628812184.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:45.207Z,1628812185.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234945.48*5F

2021-08-12T23:49:45.307Z,1628812185.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.200012 m, bearing: 233.038596 deg, deltaT: 4.370171 s, approachRate: 14.814069 m/s, LOS rate: -0.415341 deg/s, posRepo size: 4
2021-08-12T23:49:45.313Z,1628812185.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 233.038596 deg,
      approachRate: 14.814069 m/s,
      LOS rate: -0.415341 deg/s,
      cmd update: -1.246022 deg/s,
      cmd heading: 238.384841 deg,
      new cmd heading: 236.974821 deg.

2021-08-12T23:49:47.609Z,1628812187.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:48.012Z,1628812188.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:48.013Z,1628812188.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:48.013Z,1628812188.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:48.014Z,1628812188.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:48.397Z,1628812188.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,00CAD,186,80,80,A8,FF
2021-08-12T23:49:48.397Z,1628812188.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:48.397Z,1628812188.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:48.399Z,1628812188.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:48.810Z,1628812188.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:49:49.205Z,1628812189.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,003FB,185,80,80,75,FF
2021-08-12T23:49:49.205Z,1628812189.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:49:49.657Z,1628812189.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,234949.92*54

2021-08-12T23:49:49.680Z,1628812189.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 230.943722 deg, deltaT: 4.524241 s, approachRate: -29.520977 m/s, LOS rate: -0.463033 deg/s, posRepo size: 4
2021-08-12T23:49:49.681Z,1628812189.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.64 m.
2021-08-12T23:49:49.683Z,1628812189.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 230.943722 deg,
      approachRate: -29.520977 m/s,
      LOS rate: -0.463033 deg/s,
      cmd update: -1.389100 deg/s,
      cmd heading: 232.751242 deg,
      new cmd heading: 232.288447 deg.

2021-08-12T23:49:50.083Z,1628812190.083 [PowerOnly](INFO): Powering up loadControl
2021-08-12T23:49:50.168Z,1628812190.168 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T23:49:50.168Z,1628812190.168 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:49:50.169Z,1628812190.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T23:49:50.169Z,1628812190.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T23:49:50.169Z,1628812190.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T23:49:50.169Z,1628812190.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T23:49:50.417Z,1628812190.417 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243713
2021-08-12T23:49:50.505Z,1628812190.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T23:49:50.505Z,1628812190.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:49:50.506Z,1628812190.506 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T23:49:50.506Z,1628812190.506 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:49:50.511Z,1628812190.511 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-12T23:49:50.511Z,1628812190.511 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-12T23:49:50.511Z,1628812190.511 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-12T23:49:50.511Z,1628812190.511 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:49:50.511Z,1628812190.511 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-12T23:49:51.170Z,1628812191.170 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD1561180000005D00000400260000000000000000151D80030C5669C08C79984A8C2DC2076ABF8FB5F5DC003F5A6676E460E6442AAF1EAA352D00
2021-08-12T23:49:51.170Z,1628812191.170 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:49:51.239Z,1628812191.239 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:49:51.532Z,1628812191.532 [DDM](ERROR): Could not parse whisker state
2021-08-12T23:49:51.593Z,1628812191.593 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:49:51.939Z,1628812191.939 [Micromodem](INFO): Nmea in: $CADRQ,234952,1,10,0,64,1*7D

2021-08-12T23:49:51.940Z,1628812191.940 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561180000005D00000400260000000000000000151D80030C5669C08C79984A8C2DC2076ABF8FB5F5DC003F5A6676E460E6442AAF1EAA352D00*35

2021-08-12T23:49:52.062Z,1628812192.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:52.333Z,1628812192.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:49:52.333Z,1628812192.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:49:52.334Z,1628812192.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:49:52.334Z,1628812192.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:49:52.340Z,1628812192.340 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T23:49:52.737Z,1628812192.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,003FB,185,80,80,75,FF
2021-08-12T23:49:52.737Z,1628812192.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:49:52.737Z,1628812192.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:49:52.739Z,1628812192.739 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T23:49:52.740Z,1628812192.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:49:54.200Z,1628812194.200 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T23:49:54.201Z,1628812194.201 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-12T23:49:54.595Z,1628812194.595 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,234953.484857,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-12T23:49:54.596Z,1628812194.596 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,234953.484857,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5A

2021-08-12T23:49:54.645Z,1628812194.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:57.287Z,1628812197.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:49:58.361Z,1628812198.361 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.026555
2021-08-12T23:50:00.048Z,1628812200.048 [Radio_Surface](INFO): Powering down
2021-08-12T23:50:00.163Z,1628812200.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:00.521Z,1628812200.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:00.521Z,1628812200.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:00.521Z,1628812200.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:00.522Z,1628812200.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:00.947Z,1628812200.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,003FB,185,80,80,75,FF
2021-08-12T23:50:00.947Z,1628812200.947 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:00.953Z,1628812200.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:03.099Z,1628812203.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:03.782Z,1628812203.782 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:04.192Z,1628812204.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:04.602Z,1628812204.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,007D3,187,80,80,A5,FF
2021-08-12T23:50:04.602Z,1628812204.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:04.671Z,1628812204.671 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:50:05.041Z,1628812205.041 [Micromodem](INFO): Nmea in: $SNTTA,0.200179,,,,235005.31*4E

2021-08-12T23:50:05.131Z,1628812205.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.680000 m, bearing: 235.490579 deg, deltaT: 15.361417 s, approachRate: 3.843395 m/s, LOS rate: 0.295992 deg/s, posRepo size: 4
2021-08-12T23:50:05.137Z,1628812205.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.680000 m,
      bearing: 235.490579 deg,
      approachRate: 3.843395 m/s,
      LOS rate: 0.295992 deg/s,
      cmd update: 0.887976 deg/s,
      cmd heading: 211.421410 deg,
      new cmd heading: 210.772338 deg.

2021-08-12T23:50:05.597Z,1628812205.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T23:50:05.597Z,1628812205.597 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:50:05.598Z,1628812205.598 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T23:50:05.599Z,1628812205.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T23:50:05.599Z,1628812205.599 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T23:50:05.600Z,1628812205.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T23:50:05.914Z,1628812205.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T23:50:05.915Z,1628812205.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:50:05.916Z,1628812205.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T23:50:05.916Z,1628812205.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:50:07.179Z,1628812207.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:07.473Z,1628812207.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:07.473Z,1628812207.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:07.473Z,1628812207.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:07.474Z,1628812207.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:07.881Z,1628812207.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,007D3,187,80,80,A5,FF
2021-08-12T23:50:07.881Z,1628812207.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:07.881Z,1628812207.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:07.883Z,1628812207.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:08.274Z,1628812208.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:08.691Z,1628812208.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00BA6,186,80,80,90,FF
2021-08-12T23:50:08.691Z,1628812208.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:09.099Z,1628812209.099 [Micromodem](INFO): Nmea in: $SNTTA,0.096538,0.345462,,,235009.41*55

2021-08-12T23:50:09.167Z,1628812209.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.420013 m, bearing: 236.379842 deg, deltaT: 4.035034 s, approachRate: 14.557502 m/s, LOS rate: 0.220386 deg/s, posRepo size: 4
2021-08-12T23:50:09.173Z,1628812209.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.420013 m,
      bearing: 236.379842 deg,
      approachRate: 14.557502 m/s,
      LOS rate: 0.220386 deg/s,
      cmd update: 0.661157 deg/s,
      cmd heading: 215.012618 deg,
      new cmd heading: 215.419995 deg.

2021-08-12T23:50:11.275Z,1628812211.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:11.621Z,1628812211.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:11.621Z,1628812211.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:11.621Z,1628812211.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:11.622Z,1628812211.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:12.029Z,1628812212.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00BA6,186,80,80,90,FF
2021-08-12T23:50:12.029Z,1628812212.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:12.029Z,1628812212.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:12.031Z,1628812212.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:12.432Z,1628812212.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:12.850Z,1628812212.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00B7D,186,80,80,BC,FF
2021-08-12T23:50:12.851Z,1628812212.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:13.301Z,1628812213.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235013.56*5B

2021-08-12T23:50:13.384Z,1628812213.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.960007 m, bearing: 232.384428 deg, deltaT: 4.266791 s, approachRate: -0.576547 m/s, LOS rate: -0.936398 deg/s, posRepo size: 4
2021-08-12T23:50:13.393Z,1628812213.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 232.384428 deg,
      approachRate: -0.576547 m/s,
      LOS rate: -0.936398 deg/s,
      cmd update: -2.809194 deg/s,
      cmd heading: 217.831013 deg,
      new cmd heading: 218.101465 deg.

2021-08-12T23:50:15.878Z,1628812215.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:16.077Z,1628812216.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:16.077Z,1628812216.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:16.077Z,1628812216.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:16.078Z,1628812216.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:16.482Z,1628812216.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00B7D,186,80,80,BC,FF
2021-08-12T23:50:16.482Z,1628812216.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:16.482Z,1628812216.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:16.484Z,1628812216.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:16.940Z,1628812216.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:17.401Z,1628812217.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00B4B,187,80,80,9F,FF
2021-08-12T23:50:17.401Z,1628812217.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:17.867Z,1628812217.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235018.01*52

2021-08-12T23:50:18.041Z,1628812218.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.960007 m, bearing: 230.647237 deg, deltaT: 4.481144 s, approachRate: -0.669472 m/s, LOS rate: -0.387667 deg/s, posRepo size: 4
2021-08-12T23:50:18.043Z,1628812218.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.960007 m,
      bearing: 230.647237 deg,
      approachRate: -0.669472 m/s,
      LOS rate: -0.387667 deg/s,
      cmd update: -1.163000 deg/s,
      cmd heading: 205.298139 deg,
      new cmd heading: 203.589531 deg.

2021-08-12T23:50:20.304Z,1628812220.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:20.665Z,1628812220.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:20.665Z,1628812220.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:20.665Z,1628812220.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:20.666Z,1628812220.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:21.074Z,1628812221.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00B4B,187,80,80,9F,FF
2021-08-12T23:50:21.074Z,1628812221.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:21.074Z,1628812221.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:21.077Z,1628812221.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:21.565Z,1628812221.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:22.374Z,1628812222.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235022.60*5C

2021-08-12T23:50:22.816Z,1628812222.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:24.397Z,1628812224.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,9F,FF
2021-08-12T23:50:24.398Z,1628812224.398 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,9F,FF
2021-08-12T23:50:24.398Z,1628812224.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:50:25.645Z,1628812225.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:26.009Z,1628812226.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:26.009Z,1628812226.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:26.009Z,1628812226.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:26.010Z,1628812226.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:26.409Z,1628812226.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,9F,FF
2021-08-12T23:50:26.410Z,1628812226.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:26.410Z,1628812226.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:26.411Z,1628812226.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:26.569Z,1628812226.569 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-12T23:50:26.845Z,1628812226.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:27.221Z,1628812227.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00AE0,189,80,80,98,FF
2021-08-12T23:50:27.221Z,1628812227.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:27.573Z,1628812227.573 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-12T23:50:27.670Z,1628812227.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235027.94*52

2021-08-12T23:50:27.706Z,1628812227.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.539993 m, bearing: 238.066763 deg, deltaT: 9.824821 s, approachRate: -0.653448 m/s, LOS rate: 0.755182 deg/s, posRepo size: 4
2021-08-12T23:50:27.708Z,1628812227.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 238.066763 deg,
      approachRate: -0.653448 m/s,
      LOS rate: 0.755182 deg/s,
      cmd update: 2.265545 deg/s,
      cmd heading: 193.843490 deg,
      new cmd heading: 193.349482 deg.

2021-08-12T23:50:30.126Z,1628812230.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:30.449Z,1628812230.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:30.449Z,1628812230.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:30.449Z,1628812230.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:30.450Z,1628812230.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:30.909Z,1628812230.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00AE0,189,80,80,98,FF
2021-08-12T23:50:30.909Z,1628812230.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:30.910Z,1628812230.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:30.921Z,1628812230.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:31.381Z,1628812231.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:31.785Z,1628812231.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,00AB4,189,80,80,A4,FF
2021-08-12T23:50:31.785Z,1628812231.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:32.189Z,1628812232.189 [Micromodem](INFO): Nmea in: $SNTTA,0.084344,,,,235032.44*4A

2021-08-12T23:50:32.236Z,1628812232.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.900002 m, bearing: 237.270554 deg, deltaT: 4.594520 s, approachRate: -0.574596 m/s, LOS rate: -0.173295 deg/s, posRepo size: 4
2021-08-12T23:50:32.238Z,1628812232.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.900002 m,
      bearing: 237.270554 deg,
      approachRate: -0.574596 m/s,
      LOS rate: -0.173295 deg/s,
      cmd update: -0.519886 deg/s,
      cmd heading: 204.240738 deg,
      new cmd heading: 205.067492 deg.

2021-08-12T23:50:34.792Z,1628812234.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:35.013Z,1628812235.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:35.013Z,1628812235.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:35.014Z,1628812235.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:35.015Z,1628812235.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:35.421Z,1628812235.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,00AB4,189,80,80,A4,FF
2021-08-12T23:50:35.422Z,1628812235.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:35.422Z,1628812235.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:35.423Z,1628812235.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:35.825Z,1628812235.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:36.221Z,1628812236.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,00A85,189,80,80,95,FF
2021-08-12T23:50:36.221Z,1628812236.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:36.645Z,1628812236.645 [Micromodem](INFO): Nmea in: $SNTTA,0.084844,,,,235036.95*49

2021-08-12T23:50:36.812Z,1628812236.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.080009 m, bearing: 239.441379 deg, deltaT: 4.404773 s, approachRate: -0.640213 m/s, LOS rate: 0.492835 deg/s, posRepo size: 4
2021-08-12T23:50:36.814Z,1628812236.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.080009 m,
      bearing: 239.441379 deg,
      approachRate: -0.640213 m/s,
      LOS rate: 0.492835 deg/s,
      cmd update: 1.478504 deg/s,
      cmd heading: 201.948178 deg,
      new cmd heading: 201.671978 deg.

2021-08-12T23:50:39.107Z,1628812239.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:39.453Z,1628812239.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:39.453Z,1628812239.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:39.453Z,1628812239.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:39.454Z,1628812239.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:39.867Z,1628812239.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,00A85,189,80,80,95,FF
2021-08-12T23:50:39.867Z,1628812239.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:39.867Z,1628812239.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:39.870Z,1628812239.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:40.262Z,1628812240.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:40.669Z,1628812240.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00A52,189,80,80,93,FF
2021-08-12T23:50:40.670Z,1628812240.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:41.089Z,1628812241.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235041.40*5B

2021-08-12T23:50:41.265Z,1628812241.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.019997 m, bearing: 237.452100 deg, deltaT: 4.438496 s, approachRate: -0.689426 m/s, LOS rate: -0.448188 deg/s, posRepo size: 4
2021-08-12T23:50:41.267Z,1628812241.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.019997 m,
      bearing: 237.452100 deg,
      approachRate: -0.689426 m/s,
      LOS rate: -0.448188 deg/s,
      cmd update: -1.344563 deg/s,
      cmd heading: 208.511126 deg,
      new cmd heading: 209.318524 deg.

2021-08-12T23:50:43.349Z,1628812243.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:43.628Z,1628812243.628 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:43.628Z,1628812243.628 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:43.628Z,1628812243.628 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:43.629Z,1628812243.629 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:44.037Z,1628812244.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00A52,189,80,80,93,FF
2021-08-12T23:50:44.037Z,1628812244.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:44.037Z,1628812244.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:44.039Z,1628812244.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:44.440Z,1628812244.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:44.846Z,1628812244.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00A25,188,80,80,90,FF
2021-08-12T23:50:44.847Z,1628812244.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:45.285Z,1628812245.285 [Micromodem](INFO): Nmea in: $SNTTA,0.265480,,,,235045.57*4A

2021-08-12T23:50:45.333Z,1628812245.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.320007 m, bearing: 236.263210 deg, deltaT: 4.275151 s, approachRate: -0.631554 m/s, LOS rate: -0.278093 deg/s, posRepo size: 4
2021-08-12T23:50:45.335Z,1628812245.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 236.263210 deg,
      approachRate: -0.631554 m/s,
      LOS rate: -0.278093 deg/s,
      cmd update: -0.834279 deg/s,
      cmd heading: 202.768563 deg,
      new cmd heading: 202.307989 deg.

2021-08-12T23:50:47.690Z,1628812247.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:48.084Z,1628812248.084 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:48.084Z,1628812248.084 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:48.085Z,1628812248.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:48.087Z,1628812248.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:48.477Z,1628812248.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00A25,188,80,80,90,FF
2021-08-12T23:50:48.478Z,1628812248.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:48.478Z,1628812248.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:48.479Z,1628812248.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:48.875Z,1628812248.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:49.289Z,1628812249.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,009F6,189,80,80,B7,FF
2021-08-12T23:50:49.289Z,1628812249.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:49.739Z,1628812249.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235050.01*5E

2021-08-12T23:50:49.760Z,1628812249.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 236.262882 deg, deltaT: 4.515252 s, approachRate: -0.624551 m/s, LOS rate: -0.000073 deg/s, posRepo size: 4
2021-08-12T23:50:49.762Z,1628812249.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.500000 m,
      bearing: 236.262882 deg,
      approachRate: -0.624551 m/s,
      LOS rate: -0.000073 deg/s,
      cmd update: -0.000218 deg/s,
      cmd heading: 199.000528 deg,
      new cmd heading: 198.789179 deg.

2021-08-12T23:50:52.157Z,1628812252.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:52.550Z,1628812252.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:52.550Z,1628812252.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:52.551Z,1628812252.551 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:52.553Z,1628812252.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:52.975Z,1628812252.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,009F6,189,80,80,B7,FF
2021-08-12T23:50:52.975Z,1628812252.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:52.975Z,1628812252.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:52.977Z,1628812252.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:53.353Z,1628812253.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:50:53.758Z,1628812253.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,009C8,189,80,80,8E,FF
2021-08-12T23:50:53.758Z,1628812253.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:50:54.189Z,1628812254.189 [Micromodem](INFO): Nmea in: $SNTTA,0.077287,,,,235054.50*4D

2021-08-12T23:50:54.212Z,1628812254.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.740005 m, bearing: 238.680141 deg, deltaT: 4.471673 s, approachRate: -0.617217 m/s, LOS rate: 0.540571 deg/s, posRepo size: 4
2021-08-12T23:50:54.214Z,1628812254.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.740005 m,
      bearing: 238.680141 deg,
      approachRate: -0.617217 m/s,
      LOS rate: 0.540571 deg/s,
      cmd update: 1.621714 deg/s,
      cmd heading: 198.999554 deg,
      new cmd heading: 198.999504 deg.

2021-08-12T23:50:56.270Z,1628812256.270 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T23:50:56.778Z,1628812256.778 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD1561180000005D00000400260000000000000000151D80030C5669C08C79984A8C2DC2076ABF8FB5F5DC003F5A6676E460E6442AAF1EAA352D00
2021-08-12T23:50:56.778Z,1628812256.778 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:50:56.871Z,1628812256.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:57.069Z,1628812257.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:50:57.069Z,1628812257.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:50:57.069Z,1628812257.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:50:57.070Z,1628812257.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:50:57.082Z,1628812257.082 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:50:57.465Z,1628812257.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,009C8,189,80,80,8E,FF
2021-08-12T23:50:57.465Z,1628812257.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:50:57.465Z,1628812257.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:50:57.467Z,1628812257.467 [Micromodem](INFO): Nmea in: $CADRQ,235058,1,10,0,64,1*7F

2021-08-12T23:50:57.467Z,1628812257.467 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561180000005D00000400260000000000000000151D80030C5669C08C79984A8C2DC2076ABF8FB5F5DC003F5A6676E460E6442AAF1EAA352D00*35

2021-08-12T23:50:57.868Z,1628812257.868 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T23:50:57.868Z,1628812257.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:50:58.295Z,1628812258.295 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T23:50:58.295Z,1628812258.295 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-12T23:50:59.506Z,1628812259.506 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T23:50:59.507Z,1628812259.507 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-12T23:50:59.551Z,1628812259.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:50:59.897Z,1628812259.897 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,235059.011798,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-12T23:50:59.897Z,1628812259.897 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,235059.011798,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-12T23:51:01.542Z,1628812261.542 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T23:51:01.543Z,1628812261.543 [Micromodem](INFO): Sent 52 bytes from file Logs/20210812T232438/Courier0024.lzma.parts
2021-08-12T23:51:01.543Z,1628812261.543 [Micromodem](INFO): Packets left to send: 0
2021-08-12T23:51:01.932Z,1628812261.932 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812235101.956129,06,32767,45,0110,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,18.7,10.42,21,-7.42,-01,-0.45,51,14500,4000*71

2021-08-12T23:51:01.932Z,1628812261.932 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812235101.956129,06,32767,45,0110,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,18.7,10.42,21,-7.42,-01,-0.45,51,14500,4000*71

2021-08-12T23:51:02.077Z,1628812262.077 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00
2021-08-12T23:51:02.114Z,1628812262.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:03.132Z,1628812263.132 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061884
2021-08-12T23:51:04.776Z,1628812264.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:05.141Z,1628812265.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:05.141Z,1628812265.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:05.141Z,1628812265.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:05.142Z,1628812265.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:05.553Z,1628812265.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,009C8,189,80,80,8E,FF
2021-08-12T23:51:05.553Z,1628812265.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:05.553Z,1628812265.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:07.636Z,1628812267.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:09.334Z,1628812269.334 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:09.727Z,1628812269.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:09.747Z,1628812269.747 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:51:10.161Z,1628812270.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00928,186,80,80,88,FF
2021-08-12T23:51:10.161Z,1628812270.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:10.164Z,1628812270.164 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:51:10.557Z,1628812270.557 [Micromodem](INFO): Nmea in: $CADRQ,235111,1,10,0,64,1*73

2021-08-12T23:51:10.558Z,1628812270.558 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00*33

2021-08-12T23:51:10.676Z,1628812270.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.139999 m, bearing: 243.561568 deg, deltaT: 16.263493 s, approachRate: -0.590279 m/s, LOS rate: 0.300146 deg/s, posRepo size: 4
2021-08-12T23:51:10.684Z,1628812270.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.139999 m,
      bearing: 243.561568 deg,
      approachRate: -0.590279 m/s,
      LOS rate: 0.300146 deg/s,
      cmd update: 0.900439 deg/s,
      cmd heading: 225.348604 deg,
      new cmd heading: 226.049483 deg.

2021-08-12T23:51:11.001Z,1628812271.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235110.86*54

2021-08-12T23:51:11.001Z,1628812271.001 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,235110.86*54

2021-08-12T23:51:12.153Z,1628812272.153 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T23:51:12.573Z,1628812272.573 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T23:51:13.013Z,1628812273.013 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T23:51:13.277Z,1628812273.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:13.453Z,1628812273.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:13.453Z,1628812273.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:13.453Z,1628812273.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:13.454Z,1628812273.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:13.465Z,1628812273.465 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,235112.102385,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-12T23:51:13.869Z,1628812273.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00928,186,80,80,88,FF
2021-08-12T23:51:13.869Z,1628812273.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:13.869Z,1628812273.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:13.872Z,1628812273.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:14.272Z,1628812274.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:15.090Z,1628812275.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235115.40*5B

2021-08-12T23:51:15.942Z,1628812275.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:17.553Z,1628812277.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,88,FF
2021-08-12T23:51:17.554Z,1628812277.554 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,88,FF
2021-08-12T23:51:17.554Z,1628812277.554 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:51:18.817Z,1628812278.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:19.141Z,1628812279.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:19.141Z,1628812279.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:19.141Z,1628812279.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:19.142Z,1628812279.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:19.554Z,1628812279.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,88,FF
2021-08-12T23:51:19.554Z,1628812279.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:19.554Z,1628812279.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:19.556Z,1628812279.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:20.053Z,1628812280.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:20.462Z,1628812280.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,008B4,187,80,80,BC,FF
2021-08-12T23:51:20.463Z,1628812280.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:20.904Z,1628812280.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235121.08*50

2021-08-12T23:51:21.018Z,1628812281.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 240.891674 deg, deltaT: 10.238648 s, approachRate: -0.679777 m/s, LOS rate: -0.260766 deg/s, posRepo size: 4
2021-08-12T23:51:21.036Z,1628812281.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.180000 m,
      bearing: 240.891674 deg,
      approachRate: -0.679777 m/s,
      LOS rate: -0.260766 deg/s,
      cmd update: -0.782299 deg/s,
      cmd heading: 234.582442 deg,
      new cmd heading: 235.063434 deg.

2021-08-12T23:51:23.085Z,1628812283.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:23.385Z,1628812283.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:23.385Z,1628812283.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:23.385Z,1628812283.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:23.386Z,1628812283.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:23.789Z,1628812283.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,008B4,187,80,80,BC,FF
2021-08-12T23:51:23.789Z,1628812283.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:23.789Z,1628812283.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:23.791Z,1628812283.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:24.204Z,1628812284.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:24.593Z,1628812284.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00882,184,80,80,AE,FF
2021-08-12T23:51:24.593Z,1628812284.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:25.057Z,1628812285.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235125.32*5D

2021-08-12T23:51:25.105Z,1628812285.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 239.613882 deg, deltaT: 4.178206 s, approachRate: -0.718011 m/s, LOS rate: -0.305823 deg/s, posRepo size: 4
2021-08-12T23:51:25.107Z,1628812285.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.180000 m,
      bearing: 239.613882 deg,
      approachRate: -0.718011 m/s,
      LOS rate: -0.305823 deg/s,
      cmd update: -0.917469 deg/s,
      cmd heading: 231.316917 deg,
      new cmd heading: 230.967411 deg.

2021-08-12T23:51:27.182Z,1628812287.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:27.529Z,1628812287.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:27.530Z,1628812287.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:27.530Z,1628812287.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:27.531Z,1628812287.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:27.941Z,1628812287.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00882,184,80,80,AE,FF
2021-08-12T23:51:27.941Z,1628812287.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:27.941Z,1628812287.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:27.942Z,1628812287.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:28.344Z,1628812288.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:28.753Z,1628812288.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00853,186,80,80,B8,FF
2021-08-12T23:51:28.753Z,1628812288.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:29.321Z,1628812289.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235129.47*53

2021-08-12T23:51:29.343Z,1628812289.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 241.162204 deg, deltaT: 4.413920 s, approachRate: -0.638888 m/s, LOS rate: 0.350782 deg/s, posRepo size: 4
2021-08-12T23:51:29.346Z,1628812289.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 241.162204 deg,
      approachRate: -0.638888 m/s,
      LOS rate: 0.350782 deg/s,
      cmd update: 1.052345 deg/s,
      cmd heading: 227.263580 deg,
      new cmd heading: 227.017847 deg.

2021-08-12T23:51:31.772Z,1628812291.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:32.125Z,1628812292.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:32.125Z,1628812292.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:32.126Z,1628812292.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:32.127Z,1628812292.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:32.521Z,1628812292.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00853,186,80,80,B8,FF
2021-08-12T23:51:32.521Z,1628812292.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:32.522Z,1628812292.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:32.523Z,1628812292.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:32.985Z,1628812292.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:33.401Z,1628812293.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00821,187,80,80,D1,FF
2021-08-12T23:51:33.402Z,1628812293.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:33.832Z,1628812293.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.360008 m, bearing: 240.571694 deg, deltaT: 4.394036 s, approachRate: -0.682742 m/s, LOS rate: -0.134389 deg/s, posRepo size: 4
2021-08-12T23:51:33.834Z,1628812293.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.360008 m,
      bearing: 240.571694 deg,
      approachRate: -0.682742 m/s,
      LOS rate: -0.134389 deg/s,
      cmd update: -0.403167 deg/s,
      cmd heading: 231.876069 deg,
      new cmd heading: 232.268575 deg.

2021-08-12T23:51:36.282Z,1628812296.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:36.625Z,1628812296.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:36.625Z,1628812296.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:36.625Z,1628812296.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:36.626Z,1628812296.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:37.041Z,1628812297.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00821,187,80,80,D1,FF
2021-08-12T23:51:37.041Z,1628812297.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:37.041Z,1628812297.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:37.043Z,1628812297.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:37.480Z,1628812297.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:37.878Z,1628812297.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,007E8,186,80,80,C1,FF
2021-08-12T23:51:37.878Z,1628812297.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:38.306Z,1628812298.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235138.57*52

2021-08-12T23:51:38.384Z,1628812298.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 242.402075 deg, deltaT: 4.481781 s, approachRate: -0.763091 m/s, LOS rate: 0.408405 deg/s, posRepo size: 4
2021-08-12T23:51:38.386Z,1628812298.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 242.402075 deg,
      approachRate: -0.763091 m/s,
      LOS rate: 0.408405 deg/s,
      cmd update: 1.225215 deg/s,
      cmd heading: 230.083720 deg,
      new cmd heading: 229.895254 deg.

2021-08-12T23:51:40.781Z,1628812300.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:41.105Z,1628812301.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:41.105Z,1628812301.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:41.105Z,1628812301.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:41.106Z,1628812301.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:41.509Z,1628812301.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,007E8,186,80,80,C1,FF
2021-08-12T23:51:41.509Z,1628812301.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:41.509Z,1628812301.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:41.511Z,1628812301.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:41.989Z,1628812301.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:42.382Z,1628812302.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,007B8,186,80,80,90,FF
2021-08-12T23:51:42.382Z,1628812302.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:42.806Z,1628812302.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235143.03*5F

2021-08-12T23:51:42.913Z,1628812302.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 242.155396 deg, deltaT: 4.541088 s, approachRate: -0.634210 m/s, LOS rate: -0.054322 deg/s, posRepo size: 4
2021-08-12T23:51:42.930Z,1628812302.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 242.155396 deg,
      approachRate: -0.634210 m/s,
      LOS rate: -0.054322 deg/s,
      cmd update: -0.162965 deg/s,
      cmd heading: 235.683370 deg,
      new cmd heading: 236.204735 deg.

2021-08-12T23:51:45.284Z,1628812305.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:45.625Z,1628812305.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:45.625Z,1628812305.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:45.626Z,1628812305.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:45.627Z,1628812305.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:46.053Z,1628812306.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,007B8,186,80,80,90,FF
2021-08-12T23:51:46.053Z,1628812306.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:46.053Z,1628812306.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:46.055Z,1628812306.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:46.453Z,1628812306.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:46.858Z,1628812306.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00786,187,80,80,B4,FF
2021-08-12T23:51:46.858Z,1628812306.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:47.295Z,1628812307.295 [Micromodem](INFO): Nmea in: $SNTTA,0.051809,,,,235147.58*4E

2021-08-12T23:51:47.381Z,1628812307.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 243.484496 deg, deltaT: 4.481488 s, approachRate: -0.669419 m/s, LOS rate: 0.296576 deg/s, posRepo size: 4
2021-08-12T23:51:47.383Z,1628812307.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.060005 m,
      bearing: 243.484496 deg,
      approachRate: -0.669419 m/s,
      LOS rate: 0.296576 deg/s,
      cmd update: 0.889727 deg/s,
      cmd heading: 234.950797 deg,
      new cmd heading: 234.883925 deg.

2021-08-12T23:51:49.734Z,1628812309.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:50.081Z,1628812310.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:50.081Z,1628812310.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:50.081Z,1628812310.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:50.082Z,1628812310.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:50.489Z,1628812310.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00786,187,80,80,B4,FF
2021-08-12T23:51:50.489Z,1628812310.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:50.489Z,1628812310.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:50.491Z,1628812310.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:50.945Z,1628812310.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:51.297Z,1628812311.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00755,187,80,80,BB,FF
2021-08-12T23:51:51.297Z,1628812311.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:51.301Z,1628812311.301 [Micromodem](INFO): Nmea in: $SNTTA,0.158032,0.107481,,,235152.02*58

2021-08-12T23:51:51.763Z,1628812311.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.120003 m, bearing: 245.513171 deg, deltaT: 4.381709 s, approachRate: -0.670972 m/s, LOS rate: 0.462987 deg/s, posRepo size: 4
2021-08-12T23:51:51.765Z,1628812311.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.120003 m,
      bearing: 245.513171 deg,
      approachRate: -0.670972 m/s,
      LOS rate: 0.462987 deg/s,
      cmd update: 1.388962 deg/s,
      cmd heading: 238.821362 deg,
      new cmd heading: 239.215351 deg.

2021-08-12T23:51:54.155Z,1628812314.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:54.533Z,1628812314.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:54.534Z,1628812314.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:54.534Z,1628812314.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:54.535Z,1628812314.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:54.964Z,1628812314.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00755,187,80,80,BB,FF
2021-08-12T23:51:54.965Z,1628812314.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:54.965Z,1628812314.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:54.966Z,1628812314.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:55.354Z,1628812315.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:55.765Z,1628812315.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,005AB,184,80,80,CD,FF
2021-08-12T23:51:55.765Z,1628812315.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:51:56.185Z,1628812316.185 [Micromodem](INFO): Nmea in: $SNTTA,0.170159,,,,235156.49*40

2021-08-12T23:51:56.264Z,1628812316.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 242.565890 deg, deltaT: 4.427509 s, approachRate: -5.772998 m/s, LOS rate: -0.665675 deg/s, posRepo size: 4
2021-08-12T23:51:56.266Z,1628812316.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 242.565890 deg,
      approachRate: -5.772998 m/s,
      LOS rate: -0.665675 deg/s,
      cmd update: -1.997024 deg/s,
      cmd heading: 245.020222 deg,
      new cmd heading: 245.687524 deg.

2021-08-12T23:51:58.427Z,1628812318.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:51:58.605Z,1628812318.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:51:58.605Z,1628812318.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:51:58.605Z,1628812318.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:51:58.606Z,1628812318.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:51:59.013Z,1628812319.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,005AB,184,80,80,CD,FF
2021-08-12T23:51:59.013Z,1628812319.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:51:59.013Z,1628812319.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:51:59.015Z,1628812319.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:51:59.441Z,1628812319.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:51:59.805Z,1628812319.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,006F5,183,80,80,A7,FF
2021-08-12T23:51:59.806Z,1628812319.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:00.233Z,1628812320.233 [Micromodem](INFO): Nmea in: $SNTTA,0.067448,,,,235200.54*4E

2021-08-12T23:52:00.477Z,1628812320.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 243.768796 deg, deltaT: 4.101088 s, approachRate: 4.827987 m/s, LOS rate: 0.293314 deg/s, posRepo size: 4
2021-08-12T23:52:00.479Z,1628812320.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.360001 m,
      bearing: 243.768796 deg,
      approachRate: 4.827987 m/s,
      LOS rate: 0.293314 deg/s,
      cmd update: 0.879941 deg/s,
      cmd heading: 236.838186 deg,
      new cmd heading: 235.646999 deg.

2021-08-12T23:52:02.780Z,1628812322.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:03.093Z,1628812323.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:03.093Z,1628812323.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:03.094Z,1628812323.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:03.095Z,1628812323.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:03.493Z,1628812323.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,006F5,183,80,80,A7,FF
2021-08-12T23:52:03.493Z,1628812323.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:03.494Z,1628812323.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:03.495Z,1628812323.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:03.924Z,1628812323.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:04.313Z,1628812324.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,006C4,184,80,80,AA,FF
2021-08-12T23:52:04.313Z,1628812324.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:04.741Z,1628812324.741 [Micromodem](INFO): Nmea in: $SNTTA,0.070739,,,,235205.02*4B

2021-08-12T23:52:05.039Z,1628812325.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 243.857889 deg, deltaT: 4.522073 s, approachRate: -0.650145 m/s, LOS rate: 0.019702 deg/s, posRepo size: 4
2021-08-12T23:52:05.042Z,1628812325.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 243.857889 deg,
      approachRate: -0.650145 m/s,
      LOS rate: 0.019702 deg/s,
      cmd update: 0.059105 deg/s,
      cmd heading: 240.813812 deg,
      new cmd heading: 241.377799 deg.

2021-08-12T23:52:07.145Z,1628812327.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:07.381Z,1628812327.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:07.381Z,1628812327.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:07.381Z,1628812327.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:07.382Z,1628812327.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:07.387Z,1628812327.387 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T23:52:07.765Z,1628812327.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,006C4,184,80,80,AA,FF
2021-08-12T23:52:07.765Z,1628812327.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:07.765Z,1628812327.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:07.767Z,1628812327.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:08.205Z,1628812328.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:08.368Z,1628812328.368 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00
2021-08-12T23:52:08.368Z,1628812328.368 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:52:08.746Z,1628812328.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD7,000,00697,185,80,80,A2,FF
2021-08-12T23:52:08.747Z,1628812328.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:08.749Z,1628812328.749 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:52:09.181Z,1628812329.181 [Micromodem](INFO): Nmea in: $CADRQ,235209,1,10,0,64,1*79

2021-08-12T23:52:09.182Z,1628812329.182 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00*33

2021-08-12T23:52:09.345Z,1628812329.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 244.883483 deg, deltaT: 4.359356 s, approachRate: -0.619358 m/s, LOS rate: 0.235263 deg/s, posRepo size: 4
2021-08-12T23:52:09.347Z,1628812329.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.719997 m,
      bearing: 244.883483 deg,
      approachRate: -0.619358 m/s,
      LOS rate: 0.235263 deg/s,
      cmd update: 0.705788 deg/s,
      cmd heading: 241.071940 deg,
      new cmd heading: 241.105931 deg.

2021-08-12T23:52:09.566Z,1628812329.566 [Micromodem](INFO): Nmea in: $SNTTA,0.046403,0.477829,,,235209.29*58

2021-08-12T23:52:09.566Z,1628812329.566 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.046403,0.477829,,,235209.29*58

2021-08-12T23:52:10.777Z,1628812330.777 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T23:52:11.249Z,1628812331.249 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T23:52:11.456Z,1628812331.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:11.701Z,1628812331.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:11.702Z,1628812331.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:11.702Z,1628812331.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:11.704Z,1628812331.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:11.711Z,1628812331.711 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T23:52:12.085Z,1628812332.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD7,000,00697,185,80,80,A2,FF
2021-08-12T23:52:12.085Z,1628812332.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:12.085Z,1628812332.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:12.088Z,1628812332.088 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,235210.728196,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-12T23:52:12.089Z,1628812332.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:12.495Z,1628812332.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:13.326Z,1628812333.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235213.62*5E

2021-08-12T23:52:14.157Z,1628812334.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:15.723Z,1628812335.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,A2,FF
2021-08-12T23:52:15.723Z,1628812335.723 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,A2,FF
2021-08-12T23:52:15.724Z,1628812335.724 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:52:17.027Z,1628812337.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:17.333Z,1628812337.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:17.333Z,1628812337.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:17.333Z,1628812337.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:17.334Z,1628812337.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:17.738Z,1628812337.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,A2,FF
2021-08-12T23:52:17.738Z,1628812337.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:17.738Z,1628812337.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:17.740Z,1628812337.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:18.272Z,1628812338.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:18.649Z,1628812338.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00622,184,80,80,AF,FF
2021-08-12T23:52:18.649Z,1628812338.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:19.077Z,1628812339.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235219.26*54

2021-08-12T23:52:19.168Z,1628812339.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.699997 m, bearing: 244.253029 deg, deltaT: 9.927060 s, approachRate: -0.707158 m/s, LOS rate: -0.063509 deg/s, posRepo size: 4
2021-08-12T23:52:19.170Z,1628812339.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.699997 m,
      bearing: 244.253029 deg,
      approachRate: -0.707158 m/s,
      LOS rate: -0.063509 deg/s,
      cmd update: -0.190526 deg/s,
      cmd heading: 248.061031 deg,
      new cmd heading: 248.413678 deg.

2021-08-12T23:52:21.202Z,1628812341.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:21.487Z,1628812341.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:21.487Z,1628812341.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:21.487Z,1628812341.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:21.504Z,1628812341.504 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:21.891Z,1628812341.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00622,184,80,80,AF,FF
2021-08-12T23:52:21.891Z,1628812341.891 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:21.891Z,1628812341.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:21.893Z,1628812341.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:22.317Z,1628812342.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:22.689Z,1628812342.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,005F3,186,80,80,AA,FF
2021-08-12T23:52:22.690Z,1628812342.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:23.141Z,1628812343.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235223.42*5F

2021-08-12T23:52:23.213Z,1628812343.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 244.608472 deg, deltaT: 4.067087 s, approachRate: -0.693370 m/s, LOS rate: 0.087395 deg/s, posRepo size: 4
2021-08-12T23:52:23.215Z,1628812343.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.880001 m,
      bearing: 244.608472 deg,
      approachRate: -0.693370 m/s,
      LOS rate: 0.087395 deg/s,
      cmd update: 0.262185 deg/s,
      cmd heading: 247.282225 deg,
      new cmd heading: 247.197499 deg.

2021-08-12T23:52:25.583Z,1628812345.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:25.917Z,1628812345.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:25.917Z,1628812345.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:25.917Z,1628812345.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:25.918Z,1628812345.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:26.326Z,1628812346.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,005F3,186,80,80,AA,FF
2021-08-12T23:52:26.327Z,1628812346.327 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:26.327Z,1628812346.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:26.329Z,1628812346.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:26.797Z,1628812346.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:27.201Z,1628812347.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,005BD,186,80,80,9D,FF
2021-08-12T23:52:27.202Z,1628812347.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:27.617Z,1628812347.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235227.85*50

2021-08-12T23:52:27.679Z,1628812347.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 243.732568 deg, deltaT: 4.566468 s, approachRate: -0.709521 m/s, LOS rate: -0.191812 deg/s, posRepo size: 4
2021-08-12T23:52:27.681Z,1628812347.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 243.732568 deg,
      approachRate: -0.709521 m/s,
      LOS rate: -0.191812 deg/s,
      cmd update: -0.575436 deg/s,
      cmd heading: 248.480540 deg,
      new cmd heading: 248.573040 deg.

2021-08-12T23:52:30.098Z,1628812350.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:30.437Z,1628812350.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:30.438Z,1628812350.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:30.438Z,1628812350.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:30.439Z,1628812350.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:30.827Z,1628812350.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,005BD,186,80,80,9D,FF
2021-08-12T23:52:30.827Z,1628812350.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:30.827Z,1628812350.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:30.829Z,1628812350.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:31.284Z,1628812351.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:31.629Z,1628812351.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,0058D,186,80,80,8A,FF
2021-08-12T23:52:31.630Z,1628812351.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:32.085Z,1628812352.085 [Micromodem](INFO): Nmea in: $SNTTA,0.048550,,,,235232.35*4D

2021-08-12T23:52:32.137Z,1628812352.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 243.535558 deg, deltaT: 4.352061 s, approachRate: -0.661756 m/s, LOS rate: -0.045268 deg/s, posRepo size: 4
2021-08-12T23:52:32.139Z,1628812352.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 243.535558 deg,
      approachRate: -0.661756 m/s,
      LOS rate: -0.045268 deg/s,
      cmd update: -0.135805 deg/s,
      cmd heading: 245.976178 deg,
      new cmd heading: 245.712411 deg.

2021-08-12T23:52:34.548Z,1628812354.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:34.870Z,1628812354.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:34.870Z,1628812354.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:34.870Z,1628812354.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:34.871Z,1628812354.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:35.273Z,1628812355.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,0058D,186,80,80,8A,FF
2021-08-12T23:52:35.273Z,1628812355.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:35.274Z,1628812355.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:35.293Z,1628812355.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:35.692Z,1628812355.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:36.082Z,1628812356.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,0055C,186,80,80,77,FF
2021-08-12T23:52:36.082Z,1628812356.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:36.504Z,1628812356.504 [Micromodem](INFO): Nmea in: $SNTTA,0.054601,,,,235236.82*4F

2021-08-12T23:52:36.536Z,1628812356.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 244.237811 deg, deltaT: 4.460323 s, approachRate: -0.659144 m/s, LOS rate: 0.157444 deg/s, posRepo size: 4
2021-08-12T23:52:36.538Z,1628812356.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 244.237811 deg,
      approachRate: -0.659144 m/s,
      LOS rate: 0.157444 deg/s,
      cmd update: 0.472333 deg/s,
      cmd heading: 245.371008 deg,
      new cmd heading: 245.316562 deg.

2021-08-12T23:52:39.191Z,1628812359.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:39.374Z,1628812359.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:39.374Z,1628812359.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:39.374Z,1628812359.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:39.375Z,1628812359.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:39.769Z,1628812359.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,0055C,186,80,80,77,FF
2021-08-12T23:52:39.769Z,1628812359.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:39.769Z,1628812359.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:39.771Z,1628812359.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:40.178Z,1628812360.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:40.574Z,1628812360.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00522,187,80,80,B8,FF
2021-08-12T23:52:40.574Z,1628812360.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:41.033Z,1628812361.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235241.29*56

2021-08-12T23:52:41.068Z,1628812361.068 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:52:41.075Z,1628812361.075 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-12T23:52:41.089Z,1628812361.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 242.340221 deg, deltaT: 4.458041 s, approachRate: -0.780612 m/s, LOS rate: -0.425656 deg/s, posRepo size: 4
2021-08-12T23:52:41.091Z,1628812361.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.340000 m,
      bearing: 242.340221 deg,
      approachRate: -0.780612 m/s,
      LOS rate: -0.425656 deg/s,
      cmd update: -1.276967 deg/s,
      cmd heading: 247.478052 deg,
      new cmd heading: 247.710797 deg.

2021-08-12T23:52:42.210Z,1628812362.210 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:52:43.614Z,1628812363.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:43.805Z,1628812363.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:43.805Z,1628812363.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:43.805Z,1628812363.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:43.806Z,1628812363.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:44.207Z,1628812364.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00522,187,80,80,B8,FF
2021-08-12T23:52:44.207Z,1628812364.207 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:44.207Z,1628812364.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:44.211Z,1628812364.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:44.637Z,1628812364.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:45.045Z,1628812365.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,004F1,186,80,80,AC,FF
2021-08-12T23:52:45.046Z,1628812365.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:45.465Z,1628812365.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235245.73*5D

2021-08-12T23:52:45.652Z,1628812365.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 242.555071 deg, deltaT: 4.547538 s, approachRate: -0.646504 m/s, LOS rate: 0.047245 deg/s, posRepo size: 4
2021-08-12T23:52:45.653Z,1628812365.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m.
2021-08-12T23:52:45.653Z,1628812365.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.40 m.
2021-08-12T23:52:45.653Z,1628812365.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-12T23:52:45.655Z,1628812365.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.399998 m,
      bearing: 242.555071 deg,
      approachRate: -0.646504 m/s,
      LOS rate: 0.047245 deg/s,
      cmd update: 0.141736 deg/s,
      cmd heading: 241.674574 deg,
      new cmd heading: 241.046989 deg.

2021-08-12T23:52:45.894Z,1628812365.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-12T23:52:45.894Z,1628812365.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:52:45.894Z,1628812365.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-12T23:52:45.895Z,1628812365.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-12T23:52:45.895Z,1628812365.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-12T23:52:45.895Z,1628812365.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-12T23:52:46.283Z,1628812366.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-12T23:52:46.283Z,1628812366.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:52:46.283Z,1628812366.283 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-12T23:52:46.284Z,1628812366.284 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-12T23:52:47.919Z,1628812367.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:48.276Z,1628812368.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:48.277Z,1628812368.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:48.277Z,1628812368.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:48.278Z,1628812368.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:48.704Z,1628812368.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,004F1,186,80,80,AC,FF
2021-08-12T23:52:48.704Z,1628812368.704 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:48.705Z,1628812368.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:48.706Z,1628812368.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:49.082Z,1628812369.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:49.477Z,1628812369.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,004C6,183,80,80,90,FF
2021-08-12T23:52:49.478Z,1628812369.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:49.531Z,1628812369.531 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:52:49.908Z,1628812369.908 [Micromodem](INFO): Nmea in: $SNTTA,0.039315,,,,235250.23*4F

2021-08-12T23:52:50.117Z,1628812370.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 242.254925 deg, deltaT: 4.383936 s, approachRate: -0.588512 m/s, LOS rate: -0.068465 deg/s, posRepo size: 4
2021-08-12T23:52:50.119Z,1628812370.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.820000 m,
      bearing: 242.254925 deg,
      approachRate: -0.588512 m/s,
      LOS rate: -0.068465 deg/s,
      cmd update: -0.205395 deg/s,
      cmd heading: 242.296486 deg,
      new cmd heading: 242.377668 deg.

2021-08-12T23:52:52.103Z,1628812372.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:52.334Z,1628812372.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:52.334Z,1628812372.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:52.334Z,1628812372.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:52.335Z,1628812372.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:52.729Z,1628812372.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,004C6,183,80,80,90,FF
2021-08-12T23:52:52.729Z,1628812372.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:52.729Z,1628812372.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:52.731Z,1628812372.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:53.129Z,1628812373.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:53.181Z,1628812373.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-12T23:52:53.536Z,1628812373.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00491,184,80,80,B1,FF
2021-08-12T23:52:53.537Z,1628812373.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:53.587Z,1628812373.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:52:54.001Z,1628812374.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235254.25*5E

2021-08-12T23:52:54.053Z,1628812374.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 241.757005 deg, deltaT: 4.055633 s, approachRate: -0.784095 m/s, LOS rate: -0.122773 deg/s, posRepo size: 4
2021-08-12T23:52:54.055Z,1628812374.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 241.757005 deg,
      approachRate: -0.784095 m/s,
      LOS rate: -0.122773 deg/s,
      cmd update: -0.368318 deg/s,
      cmd heading: 241.468440 deg,
      new cmd heading: 241.367259 deg.

2021-08-12T23:52:56.555Z,1628812376.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:52:56.757Z,1628812376.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:52:56.757Z,1628812376.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:52:56.757Z,1628812376.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:52:56.758Z,1628812376.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:52:57.197Z,1628812377.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00491,184,80,80,B1,FF
2021-08-12T23:52:57.197Z,1628812377.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:52:57.197Z,1628812377.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:52:57.199Z,1628812377.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:52:57.572Z,1628812377.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:52:57.977Z,1628812377.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0045E,185,80,80,7A,FF
2021-08-12T23:52:57.978Z,1628812377.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:52:58.019Z,1628812378.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:52:58.469Z,1628812378.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235258.72*50

2021-08-12T23:52:58.637Z,1628812378.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 241.648623 deg, deltaT: 4.457099 s, approachRate: -0.686545 m/s, LOS rate: -0.024317 deg/s, posRepo size: 4
2021-08-12T23:52:58.639Z,1628812378.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.580002 m,
      bearing: 241.648623 deg,
      approachRate: -0.686545 m/s,
      LOS rate: -0.024317 deg/s,
      cmd update: -0.072950 deg/s,
      cmd heading: 239.827240 deg,
      new cmd heading: 239.598518 deg.

2021-08-12T23:53:00.915Z,1628812380.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:01.257Z,1628812381.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:01.257Z,1628812381.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:01.257Z,1628812381.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:01.258Z,1628812381.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:01.671Z,1628812381.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0045E,185,80,80,7A,FF
2021-08-12T23:53:01.671Z,1628812381.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:01.671Z,1628812381.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:01.673Z,1628812381.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:02.068Z,1628812382.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:02.469Z,1628812382.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,0042A,182,80,80,7B,FF
2021-08-12T23:53:02.469Z,1628812382.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:02.552Z,1628812382.552 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:02.896Z,1628812382.896 [Micromodem](INFO): Nmea in: $SNTTA,0.041601,,,,235303.20*44

2021-08-12T23:53:03.140Z,1628812383.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 241.421123 deg, deltaT: 4.507994 s, approachRate: -0.692104 m/s, LOS rate: -0.050466 deg/s, posRepo size: 4
2021-08-12T23:53:03.142Z,1628812383.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.460001 m,
      bearing: 241.421123 deg,
      approachRate: -0.692104 m/s,
      LOS rate: -0.050466 deg/s,
      cmd update: -0.151398 deg/s,
      cmd heading: 239.497149 deg,
      new cmd heading: 239.454609 deg.

2021-08-12T23:53:05.170Z,1628812385.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:05.469Z,1628812385.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:05.469Z,1628812385.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:05.469Z,1628812385.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:05.470Z,1628812385.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:05.878Z,1628812385.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,0042A,182,80,80,7B,FF
2021-08-12T23:53:05.878Z,1628812385.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:05.878Z,1628812385.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:05.880Z,1628812385.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:06.301Z,1628812386.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:06.678Z,1628812386.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,003FA,183,80,80,8B,FF
2021-08-12T23:53:06.678Z,1628812386.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:06.733Z,1628812386.733 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:07.117Z,1628812387.117 [Micromodem](INFO): Nmea in: $SNTTA,0.164536,,,,235307.40*47

2021-08-12T23:53:07.197Z,1628812387.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 241.881041 deg, deltaT: 4.182433 s, approachRate: -0.688595 m/s, LOS rate: 0.109964 deg/s, posRepo size: 4
2021-08-12T23:53:07.199Z,1628812387.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.580000 m,
      bearing: 241.881041 deg,
      approachRate: -0.688595 m/s,
      LOS rate: 0.109964 deg/s,
      cmd update: 0.329892 deg/s,
      cmd heading: 238.868148 deg,
      new cmd heading: 238.792882 deg.

2021-08-12T23:53:09.335Z,1628812389.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:09.517Z,1628812389.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:09.517Z,1628812389.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:09.517Z,1628812389.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:09.518Z,1628812389.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:09.921Z,1628812389.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,003FA,183,80,80,8B,FF
2021-08-12T23:53:09.921Z,1628812389.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:09.921Z,1628812389.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:09.923Z,1628812389.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:10.340Z,1628812390.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:10.721Z,1628812390.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,003D4,185,80,80,98,FF
2021-08-12T23:53:10.722Z,1628812390.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:10.786Z,1628812390.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:11.149Z,1628812391.149 [Micromodem](INFO): Nmea in: $SNTTA,0.051434,0.439408,,,235311.45*5D

2021-08-12T23:53:11.344Z,1628812391.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 241.745803 deg, deltaT: 4.051565 s, approachRate: -0.562746 m/s, LOS rate: -0.033379 deg/s, posRepo size: 4
2021-08-12T23:53:11.346Z,1628812391.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 241.745803 deg,
      approachRate: -0.562746 m/s,
      LOS rate: -0.033379 deg/s,
      cmd update: -0.100137 deg/s,
      cmd heading: 240.216626 deg,
      new cmd heading: 240.401661 deg.

2021-08-12T23:53:13.575Z,1628812393.575 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T23:53:13.639Z,1628812393.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:13.985Z,1628812393.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:13.985Z,1628812393.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:13.985Z,1628812393.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:13.986Z,1628812393.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:14.151Z,1628812394.151 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00
2021-08-12T23:53:14.151Z,1628812394.151 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:53:14.397Z,1628812394.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,003D4,185,80,80,98,FF
2021-08-12T23:53:14.397Z,1628812394.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:14.397Z,1628812394.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:14.398Z,1628812394.398 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:53:14.400Z,1628812394.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:14.799Z,1628812394.799 [Micromodem](INFO): Nmea in: $CADRQ,235315,1,10,0,64,1*75

2021-08-12T23:53:14.799Z,1628812394.799 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,235315,1,10,0,64,1*75

2021-08-12T23:53:15.193Z,1628812395.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00396,183,80,80,89,FF
2021-08-12T23:53:15.194Z,1628812395.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:15.198Z,1628812395.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:15.307Z,1628812395.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:15.621Z,1628812395.621 [Micromodem](INFO): Nmea in: $SNTTA,0.149921,,,,235315.93*4F

2021-08-12T23:53:15.821Z,1628812395.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 241.541061 deg, deltaT: 4.520914 s, approachRate: -0.822842 m/s, LOS rate: -0.045288 deg/s, posRepo size: 4
2021-08-12T23:53:15.823Z,1628812395.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 241.541061 deg,
      approachRate: -0.822842 m/s,
      LOS rate: -0.045288 deg/s,
      cmd update: -0.135863 deg/s,
      cmd heading: 239.764312 deg,
      new cmd heading: 239.713915 deg.

2021-08-12T23:53:17.874Z,1628812397.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:18.109Z,1628812398.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:18.109Z,1628812398.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:18.109Z,1628812398.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:18.110Z,1628812398.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:18.530Z,1628812398.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00396,183,80,80,89,FF
2021-08-12T23:53:18.530Z,1628812398.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:18.530Z,1628812398.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:18.532Z,1628812398.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:18.964Z,1628812398.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:19.321Z,1628812399.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00367,183,80,80,57,FF
2021-08-12T23:53:19.321Z,1628812399.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:19.354Z,1628812399.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:19.764Z,1628812399.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 241.413227 deg, deltaT: 4.046968 s, approachRate: -0.696819 m/s, LOS rate: -0.031588 deg/s, posRepo size: 4
2021-08-12T23:53:19.766Z,1628812399.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 241.413227 deg,
      approachRate: -0.696819 m/s,
      LOS rate: -0.031588 deg/s,
      cmd update: -0.094763 deg/s,
      cmd heading: 239.214003 deg,
      new cmd heading: 239.157826 deg.

2021-08-12T23:53:22.318Z,1628812402.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:22.553Z,1628812402.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:22.553Z,1628812402.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:22.553Z,1628812402.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:22.554Z,1628812402.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:22.997Z,1628812402.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00367,183,80,80,57,FF
2021-08-12T23:53:22.997Z,1628812402.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:22.998Z,1628812402.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:22.999Z,1628812402.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:23.391Z,1628812403.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:23.761Z,1628812403.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00333,185,80,80,A7,FF
2021-08-12T23:53:23.761Z,1628812403.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:23.836Z,1628812403.836 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:24.199Z,1628812404.199 [Micromodem](INFO): Nmea in: $SNTTA,0.029657,,,,235324.52*49

2021-08-12T23:53:24.369Z,1628812404.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 242.919803 deg, deltaT: 4.482675 s, approachRate: -0.696012 m/s, LOS rate: 0.336089 deg/s, posRepo size: 4
2021-08-12T23:53:24.371Z,1628812404.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 242.919803 deg,
      approachRate: -0.696012 m/s,
      LOS rate: 0.336089 deg/s,
      cmd update: 1.008266 deg/s,
      cmd heading: 238.789953 deg,
      new cmd heading: 238.738402 deg.

2021-08-12T23:53:26.617Z,1628812406.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:27.005Z,1628812407.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:27.006Z,1628812407.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:27.006Z,1628812407.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:27.007Z,1628812407.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:27.405Z,1628812407.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00333,185,80,80,A7,FF
2021-08-12T23:53:27.405Z,1628812407.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:27.406Z,1628812407.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:27.407Z,1628812407.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:27.813Z,1628812407.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:28.209Z,1628812408.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00305,183,80,80,C1,FF
2021-08-12T23:53:28.210Z,1628812408.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:28.271Z,1628812408.271 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:28.665Z,1628812408.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235328.93*59

2021-08-12T23:53:28.854Z,1628812408.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 240.167756 deg, deltaT: 4.434444 s, approachRate: -0.622401 m/s, LOS rate: -0.620607 deg/s, posRepo size: 4
2021-08-12T23:53:28.861Z,1628812408.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 240.167756 deg,
      approachRate: -0.622401 m/s,
      LOS rate: -0.620607 deg/s,
      cmd update: -1.861821 deg/s,
      cmd heading: 243.265364 deg,
      new cmd heading: 243.843001 deg.

2021-08-12T23:53:31.039Z,1628812411.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:31.164Z,1628812411.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:31.164Z,1628812411.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:31.165Z,1628812411.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:31.165Z,1628812411.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:31.569Z,1628812411.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00305,183,80,80,C1,FF
2021-08-12T23:53:31.569Z,1628812411.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:31.569Z,1628812411.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:31.571Z,1628812411.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:31.964Z,1628812411.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:32.365Z,1628812412.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,002DF,184,80,80,BC,FF
2021-08-12T23:53:32.366Z,1628812412.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:32.423Z,1628812412.423 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:32.825Z,1628812412.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235333.10*58

2021-08-12T23:53:32.881Z,1628812412.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 242.353198 deg, deltaT: 4.152098 s, approachRate: -0.549120 m/s, LOS rate: 0.526346 deg/s, posRepo size: 4
2021-08-12T23:53:32.883Z,1628812412.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 242.353198 deg,
      approachRate: -0.549120 m/s,
      LOS rate: 0.526346 deg/s,
      cmd update: 1.579039 deg/s,
      cmd heading: 235.534973 deg,
      new cmd heading: 234.678583 deg.

2021-08-12T23:53:35.435Z,1628812415.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:35.601Z,1628812415.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:35.601Z,1628812415.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:35.601Z,1628812415.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:35.602Z,1628812415.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:36.005Z,1628812416.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,002DF,184,80,80,BC,FF
2021-08-12T23:53:36.005Z,1628812416.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:36.005Z,1628812416.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:36.007Z,1628812416.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:36.431Z,1628812416.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:36.813Z,1628812416.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,002C8,186,80,80,9A,FF
2021-08-12T23:53:36.813Z,1628812416.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:36.910Z,1628812416.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:37.262Z,1628812417.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235337.53*5B

2021-08-12T23:53:37.486Z,1628812417.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 216.635145 deg, deltaT: 4.487736 s, approachRate: -0.307505 m/s, LOS rate: -5.730741 deg/s, posRepo size: 4
2021-08-12T23:53:37.488Z,1628812417.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 216.635145 deg,
      approachRate: -0.307505 m/s,
      LOS rate: -5.730741 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 242.595637 deg,
      new cmd heading: 243.537615 deg.

2021-08-12T23:53:39.686Z,1628812419.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:40.049Z,1628812420.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:40.049Z,1628812420.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:40.049Z,1628812420.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:40.050Z,1628812420.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:40.462Z,1628812420.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,002C8,186,80,80,9A,FF
2021-08-12T23:53:40.462Z,1628812420.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:40.463Z,1628812420.463 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:40.465Z,1628812420.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:40.859Z,1628812420.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:41.261Z,1628812421.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002C9,187,80,80,9C,FF
2021-08-12T23:53:41.262Z,1628812421.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:41.364Z,1628812421.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:41.689Z,1628812421.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235341.99*5C

2021-08-12T23:53:41.859Z,1628812421.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 247.795466 deg, deltaT: 4.453808 s, approachRate: 0.013471 m/s, LOS rate: 6.996332 deg/s, posRepo size: 4
2021-08-12T23:53:41.862Z,1628812421.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 247.795466 deg,
      approachRate: 0.013471 m/s,
      LOS rate: 6.996332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.149976 deg,
      new cmd heading: 182.949852 deg.

2021-08-12T23:53:44.174Z,1628812424.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:44.493Z,1628812424.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:44.493Z,1628812424.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:44.494Z,1628812424.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:44.495Z,1628812424.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:44.516Z,1628812424.516 [Micromodem](INFO): Nmea in: $CAERR,235345,DATA_TIMEOUT,1*48

2021-08-12T23:53:44.905Z,1628812424.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002C9,187,80,80,9C,FF
2021-08-12T23:53:44.906Z,1628812424.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:44.907Z,1628812424.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:44.914Z,1628812424.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:45.313Z,1628812425.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:45.701Z,1628812425.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00312,186,80,80,6B,FF
2021-08-12T23:53:45.701Z,1628812425.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:45.760Z,1628812425.760 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:46.157Z,1628812426.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235346.44*5B

2021-08-12T23:53:46.196Z,1628812426.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 237.679928 deg, deltaT: 4.395440 s, approachRate: 0.996488 m/s, LOS rate: -2.301371 deg/s, posRepo size: 4
2021-08-12T23:53:46.198Z,1628812426.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 237.679928 deg,
      approachRate: 0.996488 m/s,
      LOS rate: -2.301371 deg/s,
      cmd update: -6.904112 deg/s,
      cmd heading: 242.136085 deg,
      new cmd heading: 247.214113 deg.

2021-08-12T23:53:48.290Z,1628812428.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:48.553Z,1628812428.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:48.553Z,1628812428.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:48.553Z,1628812428.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:48.554Z,1628812428.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:48.969Z,1628812428.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00312,186,80,80,6B,FF
2021-08-12T23:53:48.969Z,1628812428.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:48.969Z,1628812428.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:48.971Z,1628812428.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:49.357Z,1628812429.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:49.742Z,1628812429.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,0031B,186,80,80,3A,FF
2021-08-12T23:53:49.743Z,1628812429.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:49.831Z,1628812429.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:50.181Z,1628812430.181 [Micromodem](INFO): Nmea in: $SNTTA,0.031178,,,,235350.50*4B

2021-08-12T23:53:50.354Z,1628812430.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 236.894921 deg, deltaT: 4.075877 s, approachRate: 0.132487 m/s, LOS rate: -0.192598 deg/s, posRepo size: 4
2021-08-12T23:53:50.357Z,1628812430.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 236.894921 deg,
      approachRate: 0.132487 m/s,
      LOS rate: -0.192598 deg/s,
      cmd update: -0.577795 deg/s,
      cmd heading: 214.051427 deg,
      new cmd heading: 210.392447 deg.

2021-08-12T23:53:52.622Z,1628812432.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:53.004Z,1628812433.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:53.004Z,1628812433.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:53.005Z,1628812433.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:53.006Z,1628812433.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:53.405Z,1628812433.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,0031B,186,80,80,3A,FF
2021-08-12T23:53:53.407Z,1628812433.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:53.410Z,1628812433.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:53.415Z,1628812433.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:53.789Z,1628812433.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:54.203Z,1628812434.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,00352,186,80,80,55,FF
2021-08-12T23:53:54.204Z,1628812434.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:54.282Z,1628812434.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:54.623Z,1628812434.623 [Micromodem](INFO): Nmea in: $SNTTA,0.023718,,,,235354.95*45

2021-08-12T23:53:54.870Z,1628812434.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 207.344271 deg, deltaT: 4.446406 s, approachRate: 0.742172 m/s, LOS rate: -6.645963 deg/s, posRepo size: 4
2021-08-12T23:53:54.874Z,1628812434.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 207.344271 deg,
      approachRate: 0.742172 m/s,
      LOS rate: -6.645963 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 211.477516 deg,
      new cmd heading: 211.136656 deg.

2021-08-12T23:53:56.973Z,1628812436.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:53:57.145Z,1628812437.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:53:57.145Z,1628812437.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:53:57.145Z,1628812437.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:53:57.146Z,1628812437.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:53:57.549Z,1628812437.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,00352,186,80,80,55,FF
2021-08-12T23:53:57.549Z,1628812437.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:53:57.549Z,1628812437.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:53:57.551Z,1628812437.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:53:57.972Z,1628812437.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:53:58.369Z,1628812438.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00378,186,80,80,5D,FF
2021-08-12T23:53:58.370Z,1628812438.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:53:58.461Z,1628812438.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:53:58.801Z,1628812438.801 [Micromodem](INFO): Nmea in: $SNTTA,0.030168,,,,235359.08*4F

2021-08-12T23:53:58.827Z,1628812438.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 238.885347 deg, deltaT: 4.179464 s, approachRate: 0.545523 m/s, LOS rate: 7.546679 deg/s, posRepo size: 4
2021-08-12T23:53:58.850Z,1628812438.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 238.885347 deg,
      approachRate: 0.545523 m/s,
      LOS rate: 7.546679 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.014031 deg,
      new cmd heading: 156.901767 deg.

2021-08-12T23:54:01.360Z,1628812441.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:01.597Z,1628812441.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:01.597Z,1628812441.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:01.598Z,1628812441.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:01.598Z,1628812441.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:01.993Z,1628812441.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00378,186,80,80,5D,FF
2021-08-12T23:54:01.993Z,1628812441.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:01.993Z,1628812441.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:01.995Z,1628812441.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:02.405Z,1628812442.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:02.837Z,1628812442.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00390,186,80,80,5A,FF
2021-08-12T23:54:02.838Z,1628812442.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:02.978Z,1628812442.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:54:03.249Z,1628812443.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235403.52*5A

2021-08-12T23:54:03.465Z,1628812443.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 226.196686 deg, deltaT: 4.516711 s, approachRate: 0.318816 m/s, LOS rate: -2.809270 deg/s, posRepo size: 4
2021-08-12T23:54:03.467Z,1628812443.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 226.196686 deg,
      approachRate: 0.318816 m/s,
      LOS rate: -2.809270 deg/s,
      cmd update: -8.427810 deg/s,
      cmd heading: 216.779512 deg,
      new cmd heading: 222.776165 deg.

2021-08-12T23:54:05.705Z,1628812445.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:06.105Z,1628812446.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:06.105Z,1628812446.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:06.105Z,1628812446.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:06.106Z,1628812446.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:06.473Z,1628812446.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00390,186,80,80,5A,FF
2021-08-12T23:54:06.473Z,1628812446.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:06.473Z,1628812446.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:06.475Z,1628812446.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:06.883Z,1628812446.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:07.285Z,1628812447.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32A,000,003C7,189,80,80,4B,FF
2021-08-12T23:54:07.285Z,1628812447.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:07.369Z,1628812447.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:54:07.725Z,1628812447.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235408.00*56

2021-08-12T23:54:07.896Z,1628812447.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 152.184497 deg, deltaT: 4.391143 s, approachRate: 0.751513 m/s, LOS rate: -16.854880 deg/s, posRepo size: 4
2021-08-12T23:54:07.896Z,1628812447.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.52 m. Rolling out.
2021-08-12T23:54:07.897Z,1628812447.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-12T23:54:09.893Z,1628812449.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:10.109Z,1628812450.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:10.109Z,1628812450.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:10.109Z,1628812450.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:10.110Z,1628812450.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:10.521Z,1628812450.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32A,000,003C7,189,80,80,4B,FF
2021-08-12T23:54:10.521Z,1628812450.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:10.522Z,1628812450.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:10.524Z,1628812450.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:10.961Z,1628812450.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:11.758Z,1628812451.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235412.05*58

2021-08-12T23:54:12.577Z,1628812452.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:14.153Z,1628812454.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:14.153Z,1628812454.153 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:14.153Z,1628812454.153 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:54:15.429Z,1628812455.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:15.769Z,1628812455.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:15.769Z,1628812455.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:15.769Z,1628812455.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:15.770Z,1628812455.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:16.182Z,1628812456.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:16.182Z,1628812456.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:16.182Z,1628812456.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:16.183Z,1628812456.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:16.456Z,1628812456.456 [PowerOnly](INFO): Powering down loadControl
2021-08-12T23:54:16.652Z,1628812456.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:17.463Z,1628812457.463 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235417.71*5E

2021-08-12T23:54:18.284Z,1628812458.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:19.477Z,1628812459.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:19.477Z,1628812459.477 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:19.477Z,1628812459.477 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:54:19.478Z,1628812459.478 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-12T23:54:20.015Z,1628812460.015 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00
2021-08-12T23:54:20.015Z,1628812460.015 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-12T23:54:20.302Z,1628812460.302 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-12T23:54:20.695Z,1628812460.695 [Micromodem](INFO): Nmea in: $CADRQ,235421,1,10,0,64,1*75

2021-08-12T23:54:20.695Z,1628812460.695 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15611B0000005D00000400260000000000000000151D80030C5669C08C799873B7467FE4226001D5070821092A142F1B41DBFF2B82F012765A00*33

2021-08-12T23:54:20.833Z,1628812460.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:21.101Z,1628812461.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:21.101Z,1628812461.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:21.101Z,1628812461.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:21.102Z,1628812461.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:21.109Z,1628812461.109 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-12T23:54:21.494Z,1628812461.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:21.494Z,1628812461.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:21.495Z,1628812461.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:21.525Z,1628812461.525 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-12T23:54:21.531Z,1628812461.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:22.770Z,1628812462.770 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-12T23:54:22.770Z,1628812462.770 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-12T23:54:23.119Z,1628812463.119 [Micromodem](INFO): Nmea in: $CAXST,7,20210812,235422.241808,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-12T23:54:23.119Z,1628812463.119 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210812,235422.241808,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-12T23:54:23.579Z,1628812463.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:24.754Z,1628812464.754 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-12T23:54:24.755Z,1628812464.755 [Micromodem](INFO): Sent 52 bytes from file Logs/20210812T232438/Courier0027.lzma.parts
2021-08-12T23:54:24.755Z,1628812464.755 [Micromodem](INFO): Packets left to send: 0
2021-08-12T23:54:25.146Z,1628812465.146 [Micromodem](INFO): Nmea in: $CACST,6,0,20210812235425.087130,06,32767,45,0107,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,22.2,4.25,11,-1.25,-01,0.39,45,14500,4000*63

2021-08-12T23:54:25.146Z,1628812465.146 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210812235425.087130,06,32767,45,0107,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,22.2,4.25,11,-1.25,-01,0.39,45,14500,4000*63

2021-08-12T23:54:25.355Z,1628812465.355 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-12T23:54:25.355Z,1628812465.355 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-12T23:54:25.355Z,1628812465.355 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-12T23:54:25.355Z,1628812465.355 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-12T23:54:25.355Z,1628812465.355 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-12T23:54:26.395Z,1628812466.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:27.321Z,1628812467.321 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.218880
2021-08-12T23:54:28.984Z,1628812468.984 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-12T23:54:29.011Z,1628812469.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:29.321Z,1628812469.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:29.321Z,1628812469.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:29.321Z,1628812469.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:29.322Z,1628812469.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:29.734Z,1628812469.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,4B,FF
2021-08-12T23:54:29.734Z,1628812469.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:29.734Z,1628812469.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:31.790Z,1628812471.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:32.554Z,1628812472.554 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:33.000Z,1628812473.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:33.354Z,1628812473.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,004DB,18A,80,80,33,FF
2021-08-12T23:54:33.354Z,1628812473.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:33.379Z,1628812473.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:54:33.814Z,1628812473.814 [Micromodem](INFO): Nmea in: $SNTTA,0.034799,,,,235434.08*4F

2021-08-12T23:54:33.836Z,1628812473.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 148.622936 deg, deltaT: 26.009148 s, approachRate: 0.636699 m/s, LOS rate: -0.136935 deg/s, posRepo size: 4
2021-08-12T23:54:36.234Z,1628812476.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:36.597Z,1628812476.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:36.597Z,1628812476.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:36.597Z,1628812476.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:36.598Z,1628812476.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:37.013Z,1628812477.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,004DB,18A,80,80,33,FF
2021-08-12T23:54:37.013Z,1628812477.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:37.013Z,1628812477.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:37.015Z,1628812477.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:37.401Z,1628812477.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:37.801Z,1628812477.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA7,000,00504,189,80,80,41,FF
2021-08-12T23:54:37.802Z,1628812477.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:37.857Z,1628812477.857 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:54:38.233Z,1628812478.233 [Micromodem](INFO): Nmea in: $SNTTA,0.041256,,,,235438.54*4E

2021-08-12T23:54:38.284Z,1628812478.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 234.919302 deg, deltaT: 4.478112 s, approachRate: 0.549338 m/s, LOS rate: 19.270703 deg/s, posRepo size: 4
2021-08-12T23:54:40.675Z,1628812480.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:41.037Z,1628812481.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:41.037Z,1628812481.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:41.037Z,1628812481.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:41.038Z,1628812481.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:41.441Z,1628812481.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA7,000,00504,189,80,80,41,FF
2021-08-12T23:54:41.441Z,1628812481.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:41.441Z,1628812481.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:41.443Z,1628812481.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:41.855Z,1628812481.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:42.249Z,1628812482.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,00538,186,80,80,84,FF
2021-08-12T23:54:42.250Z,1628812482.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:42.316Z,1628812482.316 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-12T23:54:42.702Z,1628812482.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235442.97*56

2021-08-12T23:54:42.724Z,1628812482.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 184.631242 deg, deltaT: 4.459688 s, approachRate: 0.699600 m/s, LOS rate: -11.276139 deg/s, posRepo size: 4
2021-08-12T23:54:43.146Z,1628812483.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-12T23:54:43.146Z,1628812483.146 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:54:43.147Z,1628812483.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-12T23:54:43.147Z,1628812483.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-12T23:54:43.147Z,1628812483.147 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-12T23:54:43.148Z,1628812483.148 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-12T23:54:43.521Z,1628812483.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-12T23:54:43.521Z,1628812483.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:54:43.522Z,1628812483.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-12T23:54:43.522Z,1628812483.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-12T23:54:45.135Z,1628812485.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:45.489Z,1628812485.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:45.489Z,1628812485.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:45.489Z,1628812485.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:45.490Z,1628812485.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:45.885Z,1628812485.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,00538,186,80,80,84,FF
2021-08-12T23:54:45.885Z,1628812485.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:45.885Z,1628812485.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:45.887Z,1628812485.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:46.309Z,1628812486.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:46.698Z,1628812486.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,0056C,186,80,80,6A,FF
2021-08-12T23:54:46.698Z,1628812486.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:47.138Z,1628812487.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235447.41*58

2021-08-12T23:54:47.207Z,1628812487.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 194.945087 deg, deltaT: 4.422068 s, approachRate: 0.705553 m/s, LOS rate: 2.332358 deg/s, posRepo size: 4
2021-08-12T23:54:49.556Z,1628812489.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:49.928Z,1628812489.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:49.929Z,1628812489.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:49.929Z,1628812489.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:49.930Z,1628812489.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:50.338Z,1628812490.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,0056C,186,80,80,6A,FF
2021-08-12T23:54:50.338Z,1628812490.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:50.338Z,1628812490.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:50.341Z,1628812490.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:50.737Z,1628812490.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:51.142Z,1628812491.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,005A2,187,80,80,89,FF
2021-08-12T23:54:51.143Z,1628812491.143 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:51.565Z,1628812491.565 [Micromodem](INFO): Nmea in: $SNTTA,0.074278,,,,235451.86*44

2021-08-12T23:54:51.612Z,1628812491.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 194.727013 deg, deltaT: 4.503533 s, approachRate: 0.719434 m/s, LOS rate: -0.048423 deg/s, posRepo size: 4
2021-08-12T23:54:54.017Z,1628812494.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:54.370Z,1628812494.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:54.370Z,1628812494.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:54.371Z,1628812494.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:54.371Z,1628812494.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:54.773Z,1628812494.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,005A2,187,80,80,89,FF
2021-08-12T23:54:54.773Z,1628812494.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:54.773Z,1628812494.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:54.775Z,1628812494.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:55.186Z,1628812495.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:54:55.256Z,1628812495.256 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-12T23:54:55.256Z,1628812495.256 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-12T23:54:55.256Z,1628812495.256 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-12T23:54:55.262Z,1628812495.262 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-12T23:54:55.429Z,1628812495.429 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-12T23:54:55.585Z,1628812495.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,005D4,185,80,80,5E,FF
2021-08-12T23:54:55.586Z,1628812495.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:54:55.664Z,1628812495.664 [RDI_Pathfinder](INFO): Powering down
2021-08-12T23:54:56.034Z,1628812496.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235456.30*5E

2021-08-12T23:54:56.082Z,1628812496.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 196.794743 deg, deltaT: 4.469704 s, approachRate: 0.671186 m/s, LOS rate: 0.462610 deg/s, posRepo size: 4
2021-08-12T23:54:56.548Z,1628812496.548 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-12T23:54:56.548Z,1628812496.548 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-12T23:54:57.610Z,1628812497.610 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-12T23:54:58.495Z,1628812498.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:54:58.809Z,1628812498.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:54:58.809Z,1628812498.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:54:58.809Z,1628812498.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:54:58.810Z,1628812498.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:54:59.213Z,1628812499.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,005D4,185,80,80,5E,FF
2021-08-12T23:54:59.213Z,1628812499.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:54:59.213Z,1628812499.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:54:59.215Z,1628812499.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:54:59.634Z,1628812499.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:00.025Z,1628812500.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,455,000,00609,189,80,80,3D,FF
2021-08-12T23:55:00.025Z,1628812500.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:00.466Z,1628812500.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235500.74*5C

2021-08-12T23:55:00.489Z,1628812500.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 123.984066 deg, deltaT: 4.409826 s, approachRate: 0.721116 m/s, LOS rate: -16.511009 deg/s, posRepo size: 4
2021-08-12T23:55:02.885Z,1628812502.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:03.257Z,1628812503.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:03.257Z,1628812503.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:03.257Z,1628812503.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:03.258Z,1628812503.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:03.669Z,1628812503.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
455,000,00609,189,80,80,3D,FF
2021-08-12T23:55:03.669Z,1628812503.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:03.669Z,1628812503.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:03.671Z,1628812503.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:04.065Z,1628812504.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:04.465Z,1628812504.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,0063A,186,80,80,5F,FF
2021-08-12T23:55:04.465Z,1628812504.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:04.915Z,1628812504.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235505.20*58

2021-08-12T23:55:04.995Z,1628812504.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 204.916877 deg, deltaT: 4.363180 s, approachRate: 0.673821 m/s, LOS rate: 18.549042 deg/s, posRepo size: 4
2021-08-12T23:55:06.995Z,1628812506.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:07.293Z,1628812507.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:07.293Z,1628812507.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:07.293Z,1628812507.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:07.294Z,1628812507.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:07.697Z,1628812507.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,0063A,186,80,80,5F,FF
2021-08-12T23:55:07.697Z,1628812507.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:07.697Z,1628812507.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:07.699Z,1628812507.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:08.108Z,1628812508.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:08.521Z,1628812508.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,419,000,00668,18A,80,80,60,FF
2021-08-12T23:55:08.521Z,1628812508.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:08.981Z,1628812508.981 [Micromodem](INFO): Nmea in: $SNTTA,0.051391,,,,235509.22*47

2021-08-12T23:55:09.054Z,1628812509.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 126.211937 deg, deltaT: 4.088104 s, approachRate: 0.675130 m/s, LOS rate: -19.252186 deg/s, posRepo size: 4
2021-08-12T23:55:11.368Z,1628812511.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:11.761Z,1628812511.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:11.761Z,1628812511.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:11.761Z,1628812511.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:11.762Z,1628812511.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:12.153Z,1628812512.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
419,000,00668,18A,80,80,60,FF
2021-08-12T23:55:12.153Z,1628812512.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:12.154Z,1628812512.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:12.155Z,1628812512.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:12.565Z,1628812512.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:13.001Z,1628812513.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,0069E,187,80,80,7C,FF
2021-08-12T23:55:13.001Z,1628812513.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:13.409Z,1628812513.409 [Micromodem](INFO): Nmea in: $SNTTA,0.053376,,,,235513.68*49

2021-08-12T23:55:13.437Z,1628812513.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 204.469158 deg, deltaT: 4.558856 s, approachRate: 0.710704 m/s, LOS rate: 17.165978 deg/s, posRepo size: 4
2021-08-12T23:55:15.828Z,1628812515.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:16.236Z,1628812516.236 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:16.236Z,1628812516.236 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:16.236Z,1628812516.236 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:16.237Z,1628812516.237 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:16.601Z,1628812516.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,0069E,187,80,80,7C,FF
2021-08-12T23:55:16.601Z,1628812516.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:16.601Z,1628812516.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:16.603Z,1628812516.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:17.016Z,1628812517.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:17.405Z,1628812517.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,006D2,186,80,80,7D,FF
2021-08-12T23:55:17.405Z,1628812517.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:17.846Z,1628812517.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235518.13*54

2021-08-12T23:55:17.887Z,1628812517.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 156.450428 deg, deltaT: 4.298364 s, approachRate: 0.725858 m/s, LOS rate: -11.171397 deg/s, posRepo size: 4
2021-08-12T23:55:20.267Z,1628812520.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:20.637Z,1628812520.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:20.637Z,1628812520.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:20.637Z,1628812520.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:20.638Z,1628812520.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:21.037Z,1628812521.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,006D2,186,80,80,7D,FF
2021-08-12T23:55:21.037Z,1628812521.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:21.037Z,1628812521.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:21.039Z,1628812521.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:21.455Z,1628812521.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:21.867Z,1628812521.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,0070A,187,80,80,68,FF
2021-08-12T23:55:21.868Z,1628812521.868 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:22.297Z,1628812522.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235522.56*5C

2021-08-12T23:55:22.323Z,1628812522.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 152.768054 deg, deltaT: 4.460851 s, approachRate: 0.753220 m/s, LOS rate: -0.825487 deg/s, posRepo size: 4
2021-08-12T23:55:24.702Z,1628812524.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:25.081Z,1628812525.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:25.081Z,1628812525.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:25.081Z,1628812525.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:25.082Z,1628812525.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:25.489Z,1628812525.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,0070A,187,80,80,68,FF
2021-08-12T23:55:25.489Z,1628812525.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:25.490Z,1628812525.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:25.491Z,1628812525.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:25.901Z,1628812525.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:26.289Z,1628812526.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0073E,189,80,80,66,FF
2021-08-12T23:55:26.290Z,1628812526.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:26.741Z,1628812526.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235527.01*5B

2021-08-12T23:55:26.760Z,1628812526.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 151.071258 deg, deltaT: 4.461309 s, approachRate: 0.699347 m/s, LOS rate: -0.380336 deg/s, posRepo size: 4
2021-08-12T23:55:29.201Z,1628812529.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:29.525Z,1628812529.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:29.525Z,1628812529.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:29.525Z,1628812529.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:29.526Z,1628812529.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:29.941Z,1628812529.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0073E,189,80,80,66,FF
2021-08-12T23:55:29.941Z,1628812529.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:29.941Z,1628812529.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:29.964Z,1628812529.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:30.349Z,1628812530.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:30.745Z,1628812530.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,00779,189,80,80,A5,FF
2021-08-12T23:55:30.745Z,1628812530.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:31.159Z,1628812531.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235531.49*50

2021-08-12T23:55:31.221Z,1628812531.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 151.172112 deg, deltaT: 4.440843 s, approachRate: 0.797146 m/s, LOS rate: 0.022711 deg/s, posRepo size: 4
2021-08-12T23:55:33.597Z,1628812533.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:33.985Z,1628812533.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:33.985Z,1628812533.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:33.986Z,1628812533.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:33.987Z,1628812533.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:34.373Z,1628812534.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,00779,189,80,80,A5,FF
2021-08-12T23:55:34.373Z,1628812534.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:34.373Z,1628812534.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:34.375Z,1628812534.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:34.785Z,1628812534.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:35.181Z,1628812535.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCC,000,007AA,189,80,80,77,FF
2021-08-12T23:55:35.181Z,1628812535.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:35.185Z,1628812535.185 [Micromodem](INFO): Nmea in: $SNTTA,0.193845,0.193639,,,235535.90*55

2021-08-12T23:55:35.624Z,1628812535.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 208.305689 deg, deltaT: 4.483625 s, approachRate: 0.655718 m/s, LOS rate: 12.742719 deg/s, posRepo size: 4
2021-08-12T23:55:38.077Z,1628812538.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:38.419Z,1628812538.419 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:38.419Z,1628812538.419 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:38.419Z,1628812538.419 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:38.420Z,1628812538.420 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:38.817Z,1628812538.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCC,000,007AA,189,80,80,77,FF
2021-08-12T23:55:38.817Z,1628812538.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:38.818Z,1628812538.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:38.819Z,1628812538.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:39.229Z,1628812539.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:39.629Z,1628812539.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,007D8,186,80,80,97,FF
2021-08-12T23:55:39.630Z,1628812539.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:40.077Z,1628812540.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235540.34*5C

2021-08-12T23:55:40.114Z,1628812540.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.980003 m, bearing: 156.448283 deg, deltaT: 4.372444 s, approachRate: 0.631226 m/s, LOS rate: -11.860051 deg/s, posRepo size: 4
2021-08-12T23:55:42.499Z,1628812542.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:42.869Z,1628812542.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:42.869Z,1628812542.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:42.870Z,1628812542.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:42.871Z,1628812542.871 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:43.277Z,1628812543.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,007D8,186,80,80,97,FF
2021-08-12T23:55:43.277Z,1628812543.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:43.277Z,1628812543.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:43.279Z,1628812543.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:43.676Z,1628812543.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:44.081Z,1628812544.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,0080F,189,80,80,79,FF
2021-08-12T23:55:44.081Z,1628812544.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:44.505Z,1628812544.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235544.80*57

2021-08-12T23:55:44.552Z,1628812544.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.280006 m, bearing: 153.658656 deg, deltaT: 4.547036 s, approachRate: 0.725748 m/s, LOS rate: -0.613504 deg/s, posRepo size: 4
2021-08-12T23:55:47.048Z,1628812547.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:47.313Z,1628812547.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:47.313Z,1628812547.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:47.313Z,1628812547.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:47.314Z,1628812547.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:47.709Z,1628812547.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,0080F,189,80,80,79,FF
2021-08-12T23:55:47.710Z,1628812547.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:47.710Z,1628812547.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:47.711Z,1628812547.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:48.141Z,1628812548.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:48.548Z,1628812548.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0083F,189,80,80,70,FF
2021-08-12T23:55:48.548Z,1628812548.548 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:48.993Z,1628812548.993 [Micromodem](INFO): Nmea in: $SNTTA,0.058927,,,,235549.24*4B

2021-08-12T23:55:49.054Z,1628812549.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 148.433644 deg, deltaT: 4.378215 s, approachRate: 0.657802 m/s, LOS rate: -1.193412 deg/s, posRepo size: 4
2021-08-12T23:55:51.387Z,1628812551.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:51.749Z,1628812551.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:51.749Z,1628812551.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:51.749Z,1628812551.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:51.750Z,1628812551.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:52.170Z,1628812552.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,0083F,189,80,80,70,FF
2021-08-12T23:55:52.170Z,1628812552.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:52.170Z,1628812552.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:52.173Z,1628812552.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:52.553Z,1628812552.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:53.009Z,1628812553.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,0087B,189,80,80,83,FF
2021-08-12T23:55:53.010Z,1628812553.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:53.384Z,1628812553.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235553.70*5E

2021-08-12T23:55:53.420Z,1628812553.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 150.093708 deg, deltaT: 4.528931 s, approachRate: 0.794888 m/s, LOS rate: 0.366547 deg/s, posRepo size: 4
2021-08-12T23:55:55.831Z,1628812555.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:55:56.198Z,1628812556.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:55:56.198Z,1628812556.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:55:56.198Z,1628812556.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:55:56.199Z,1628812556.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:55:56.597Z,1628812556.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,0087B,189,80,80,83,FF
2021-08-12T23:55:56.597Z,1628812556.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:55:56.597Z,1628812556.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:55:56.599Z,1628812556.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:55:57.030Z,1628812557.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:55:57.413Z,1628812557.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,008B6,187,80,80,64,FF
2021-08-12T23:55:57.413Z,1628812557.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:55:57.854Z,1628812557.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235558.12*51

2021-08-12T23:55:57.891Z,1628812557.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.299995 m, bearing: 205.437733 deg, deltaT: 4.357766 s, approachRate: 0.812343 m/s, LOS rate: 12.700091 deg/s, posRepo size: 4
2021-08-12T23:56:00.289Z,1628812560.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:00.633Z,1628812560.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:00.633Z,1628812560.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:00.633Z,1628812560.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:00.634Z,1628812560.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:01.045Z,1628812561.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,008B6,187,80,80,64,FF
2021-08-12T23:56:01.045Z,1628812561.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:01.045Z,1628812561.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:01.047Z,1628812561.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:01.453Z,1628812561.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:01.850Z,1628812561.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,219,000,008E8,187,80,80,8B,FF
2021-08-12T23:56:01.851Z,1628812561.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:02.285Z,1628812562.285 [Micromodem](INFO): Nmea in: $SNTTA,0.100094,,,,235602.57*4E

2021-08-12T23:56:02.322Z,1628812562.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 153.071465 deg, deltaT: 4.459297 s, approachRate: 0.672754 m/s, LOS rate: -11.743166 deg/s, posRepo size: 4
2021-08-12T23:56:04.711Z,1628812564.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:05.077Z,1628812565.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:05.077Z,1628812565.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:05.077Z,1628812565.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:05.078Z,1628812565.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:05.485Z,1628812565.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
219,000,008E8,187,80,80,8B,FF
2021-08-12T23:56:05.485Z,1628812565.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:05.485Z,1628812565.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:05.487Z,1628812565.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:05.897Z,1628812565.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:06.289Z,1628812566.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,0091F,187,80,80,97,FF
2021-08-12T23:56:06.289Z,1628812566.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:06.737Z,1628812566.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235607.01*5A

2021-08-12T23:56:06.766Z,1628812566.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.600006 m, bearing: 153.776395 deg, deltaT: 4.426995 s, approachRate: 0.745427 m/s, LOS rate: 0.159234 deg/s, posRepo size: 4
2021-08-12T23:56:09.203Z,1628812569.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:09.529Z,1628812569.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:09.529Z,1628812569.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:09.529Z,1628812569.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:09.530Z,1628812569.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:09.925Z,1628812569.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,0091F,187,80,80,97,FF
2021-08-12T23:56:09.925Z,1628812569.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:09.925Z,1628812569.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:09.927Z,1628812569.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:10.332Z,1628812570.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:10.741Z,1628812570.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00957,187,80,80,87,FF
2021-08-12T23:56:10.741Z,1628812570.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:11.189Z,1628812571.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235611.45*5D

2021-08-12T23:56:11.256Z,1628812571.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 157.030202 deg, deltaT: 4.438038 s, approachRate: 0.757091 m/s, LOS rate: 0.733163 deg/s, posRepo size: 4
2021-08-12T23:56:13.603Z,1628812573.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:13.989Z,1628812573.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:13.989Z,1628812573.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:13.989Z,1628812573.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:13.990Z,1628812573.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:14.374Z,1628812574.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00957,187,80,80,87,FF
2021-08-12T23:56:14.374Z,1628812574.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:14.374Z,1628812574.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:14.376Z,1628812574.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:14.781Z,1628812574.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:15.189Z,1628812575.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00994,187,80,80,65,FF
2021-08-12T23:56:15.190Z,1628812575.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:15.621Z,1628812575.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235615.90*51

2021-08-12T23:56:15.656Z,1628812575.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 154.595827 deg, deltaT: 4.494559 s, approachRate: 0.814317 m/s, LOS rate: -0.541627 deg/s, posRepo size: 4
2021-08-12T23:56:18.051Z,1628812578.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:18.417Z,1628812578.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:18.417Z,1628812578.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:18.417Z,1628812578.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:18.418Z,1628812578.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:18.813Z,1628812578.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00994,187,80,80,65,FF
2021-08-12T23:56:18.813Z,1628812578.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:18.813Z,1628812578.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:18.815Z,1628812578.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:19.221Z,1628812579.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:19.633Z,1628812579.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,009C2,188,80,80,75,FF
2021-08-12T23:56:19.633Z,1628812579.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:20.061Z,1628812580.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235620.34*59

2021-08-12T23:56:20.099Z,1628812580.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.379997 m, bearing: 151.973034 deg, deltaT: 4.373582 s, approachRate: 0.631060 m/s, LOS rate: -0.599690 deg/s, posRepo size: 4
2021-08-12T23:56:22.471Z,1628812582.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:22.865Z,1628812582.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:22.865Z,1628812582.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:22.866Z,1628812582.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:22.867Z,1628812582.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:23.265Z,1628812583.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,009C2,188,80,80,75,FF
2021-08-12T23:56:23.265Z,1628812583.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:23.265Z,1628812583.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:23.267Z,1628812583.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:23.677Z,1628812583.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:24.073Z,1628812584.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,009F8,187,80,80,86,FF
2021-08-12T23:56:24.073Z,1628812584.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:24.510Z,1628812584.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235624.79*54

2021-08-12T23:56:24.526Z,1628812584.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.620003 m, bearing: 154.834487 deg, deltaT: 4.475002 s, approachRate: 0.724023 m/s, LOS rate: 0.639431 deg/s, posRepo size: 4
2021-08-12T23:56:27.018Z,1628812587.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:27.313Z,1628812587.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:27.313Z,1628812587.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:27.313Z,1628812587.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:27.314Z,1628812587.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:27.701Z,1628812587.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,009F8,187,80,80,86,FF
2021-08-12T23:56:27.701Z,1628812587.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:27.701Z,1628812587.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:27.703Z,1628812587.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:28.108Z,1628812588.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:28.531Z,1628812588.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00A36,187,80,80,9E,FF
2021-08-12T23:56:28.531Z,1628812588.531 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:28.979Z,1628812588.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235629.23*56

2021-08-12T23:56:29.054Z,1628812589.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.340004 m, bearing: 155.566615 deg, deltaT: 4.446366 s, approachRate: 0.836639 m/s, LOS rate: 0.164658 deg/s, posRepo size: 4
2021-08-12T23:56:31.361Z,1628812591.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:31.749Z,1628812591.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:31.749Z,1628812591.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:31.750Z,1628812591.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:31.751Z,1628812591.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:32.154Z,1628812592.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00A36,187,80,80,9E,FF
2021-08-12T23:56:32.154Z,1628812592.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:32.154Z,1628812592.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:32.157Z,1628812592.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:32.557Z,1628812592.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:32.989Z,1628812592.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,00A67,186,80,80,9C,FF
2021-08-12T23:56:32.989Z,1628812592.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:33.417Z,1628812593.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235633.68*52

2021-08-12T23:56:33.418Z,1628812593.418 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,235634,A0*7E
 expected 37
2021-08-12T23:56:33.433Z,1628812593.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 153.911005 deg, deltaT: 4.507292 s, approachRate: 0.652275 m/s, LOS rate: -0.367318 deg/s, posRepo size: 4
2021-08-12T23:56:35.810Z,1628812595.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:36.181Z,1628812596.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:36.182Z,1628812596.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:36.182Z,1628812596.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:36.183Z,1628812596.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:36.593Z,1628812596.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,00A67,186,80,80,9C,FF
2021-08-12T23:56:36.593Z,1628812596.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:36.593Z,1628812596.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:36.595Z,1628812596.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:37.020Z,1628812597.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:37.405Z,1628812597.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,00A9D,186,80,80,89,FF
2021-08-12T23:56:37.405Z,1628812597.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:37.846Z,1628812597.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235638.12*54

2021-08-12T23:56:37.874Z,1628812597.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 159.465424 deg, deltaT: 4.367193 s, approachRate: 0.741897 m/s, LOS rate: 1.271851 deg/s, posRepo size: 4
2021-08-12T23:56:40.259Z,1628812600.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:40.629Z,1628812600.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:40.629Z,1628812600.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:40.629Z,1628812600.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:40.630Z,1628812600.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:41.041Z,1628812601.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,00A9D,186,80,80,89,FF
2021-08-12T23:56:41.041Z,1628812601.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:41.041Z,1628812601.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:41.043Z,1628812601.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:41.444Z,1628812601.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:41.855Z,1628812601.855 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00AD6,187,80,80,7B,FF
2021-08-12T23:56:41.855Z,1628812601.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:42.289Z,1628812602.289 [Micromodem](INFO): Nmea in: $SNTTA,0.103926,,,,235642.57*49

2021-08-12T23:56:42.347Z,1628812602.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.940002 m, bearing: 153.817486 deg, deltaT: 4.436766 s, approachRate: 0.770831 m/s, LOS rate: -1.272985 deg/s, posRepo size: 4
2021-08-12T23:56:44.685Z,1628812604.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:45.093Z,1628812605.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:45.093Z,1628812605.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:45.093Z,1628812605.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:45.094Z,1628812605.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:45.481Z,1628812605.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00AD6,187,80,80,7B,FF
2021-08-12T23:56:45.481Z,1628812605.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:45.481Z,1628812605.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:45.483Z,1628812605.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:45.897Z,1628812605.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:46.293Z,1628812606.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F8,000,00B0B,186,80,80,86,FF
2021-08-12T23:56:46.293Z,1628812606.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:46.725Z,1628812606.725 [Micromodem](INFO): Nmea in: $SNTTA,0.090394,,,,235647.01*47

2021-08-12T23:56:46.756Z,1628812606.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.120010 m, bearing: 154.398707 deg, deltaT: 4.469940 s, approachRate: 0.711421 m/s, LOS rate: 0.130029 deg/s, posRepo size: 4
2021-08-12T23:56:49.186Z,1628812609.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:49.521Z,1628812609.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:49.522Z,1628812609.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:49.522Z,1628812609.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:49.523Z,1628812609.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:49.952Z,1628812609.952 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F8,000,00B0B,186,80,80,86,FF
2021-08-12T23:56:49.953Z,1628812609.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:49.953Z,1628812609.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:49.963Z,1628812609.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:50.332Z,1628812610.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:50.749Z,1628812610.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00B46,187,80,80,86,FF
2021-08-12T23:56:50.750Z,1628812610.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:51.167Z,1628812611.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235651.49*55

2021-08-12T23:56:51.221Z,1628812611.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.660004 m, bearing: 157.016459 deg, deltaT: 4.444722 s, approachRate: 0.796449 m/s, LOS rate: 0.588957 deg/s, posRepo size: 4
2021-08-12T23:56:53.601Z,1628812613.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:53.986Z,1628812613.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:53.986Z,1628812613.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:53.986Z,1628812613.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:53.987Z,1628812613.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:54.377Z,1628812614.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,00B46,187,80,80,86,FF
2021-08-12T23:56:54.377Z,1628812614.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:54.377Z,1628812614.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:54.379Z,1628812614.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:54.787Z,1628812614.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:55.185Z,1628812615.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00B7C,186,80,80,80,FF
2021-08-12T23:56:55.185Z,1628812615.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:55.622Z,1628812615.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235655.90*55

2021-08-12T23:56:55.664Z,1628812615.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.900009 m, bearing: 155.652402 deg, deltaT: 4.458279 s, approachRate: 0.726739 m/s, LOS rate: -0.305960 deg/s, posRepo size: 4
2021-08-12T23:56:58.075Z,1628812618.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:56:58.405Z,1628812618.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:56:58.405Z,1628812618.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:56:58.405Z,1628812618.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:56:58.406Z,1628812618.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:56:58.823Z,1628812618.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00B7C,186,80,80,80,FF
2021-08-12T23:56:58.823Z,1628812618.823 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:56:58.823Z,1628812618.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:56:58.847Z,1628812618.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:56:59.225Z,1628812619.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:56:59.280Z,1628812619.280 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-12T23:56:59.280Z,1628812619.280 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-12T23:56:59.280Z,1628812619.280 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-12T23:56:59.432Z,1628812619.432 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-12T23:56:59.618Z,1628812619.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F8,000,00B7C,186,80,80,80,FF
2021-08-12T23:56:59.618Z,1628812619.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:56:59.692Z,1628812619.692 [RDI_Pathfinder](INFO): Powering down
2021-08-12T23:57:00.047Z,1628812620.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235700.38*56

2021-08-12T23:57:00.093Z,1628812620.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.900009 m, bearing: 154.251257 deg, deltaT: 4.467125 s, approachRate: 0.000000 m/s, LOS rate: -0.313657 deg/s, posRepo size: 4
2021-08-12T23:57:00.728Z,1628812620.728 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-12T23:57:00.728Z,1628812620.728 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-12T23:57:02.467Z,1628812622.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:02.850Z,1628812622.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:02.850Z,1628812622.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:02.850Z,1628812622.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:02.851Z,1628812622.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:03.250Z,1628812623.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F8,000,00B7C,186,80,80,80,FF
2021-08-12T23:57:03.250Z,1628812623.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:03.250Z,1628812623.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:03.279Z,1628812623.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:03.691Z,1628812623.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:04.066Z,1628812624.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00BEB,186,80,80,80,FF
2021-08-12T23:57:04.067Z,1628812624.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:04.531Z,1628812624.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 153.743583 deg, deltaT: 4.407078 s, approachRate: 1.511206 m/s, LOS rate: -0.115195 deg/s, posRepo size: 4
2021-08-12T23:57:06.977Z,1628812626.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:07.301Z,1628812627.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:07.301Z,1628812627.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:07.301Z,1628812627.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:07.302Z,1628812627.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:07.701Z,1628812627.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00BEB,186,80,80,80,FF
2021-08-12T23:57:07.701Z,1628812627.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:07.701Z,1628812627.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:07.703Z,1628812627.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:08.117Z,1628812628.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:08.517Z,1628812628.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,00C1B,186,80,80,5F,FF
2021-08-12T23:57:08.518Z,1628812628.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:08.969Z,1628812628.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235709.23*55

2021-08-12T23:57:09.006Z,1628812629.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.440002 m, bearing: 156.647096 deg, deltaT: 4.439131 s, approachRate: 0.648773 m/s, LOS rate: 0.654072 deg/s, posRepo size: 4
2021-08-12T23:57:11.379Z,1628812631.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:11.741Z,1628812631.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:11.741Z,1628812631.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:11.741Z,1628812631.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:11.742Z,1628812631.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:12.149Z,1628812632.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,00C1B,186,80,80,5F,FF
2021-08-12T23:57:12.150Z,1628812632.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:12.150Z,1628812632.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:12.151Z,1628812632.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:12.553Z,1628812632.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:12.965Z,1628812632.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00C52,186,80,80,5A,FF
2021-08-12T23:57:12.966Z,1628812632.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:13.402Z,1628812633.402 [Micromodem](INFO): Nmea in: $SNTTA,0.102911,,,,235713.67*4A

2021-08-12T23:57:13.424Z,1628812633.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.739990 m, bearing: 157.164784 deg, deltaT: 4.447714 s, approachRate: 0.741951 m/s, LOS rate: 0.116394 deg/s, posRepo size: 4
2021-08-12T23:57:13.424Z,1628812633.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.74 m. Resuming terminal guidance.
2021-08-12T23:57:13.424Z,1628812633.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-12T23:57:15.803Z,1628812635.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:16.181Z,1628812636.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:16.181Z,1628812636.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:16.182Z,1628812636.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:16.183Z,1628812636.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:16.597Z,1628812636.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00C52,186,80,80,5A,FF
2021-08-12T23:57:16.597Z,1628812636.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:16.598Z,1628812636.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:16.599Z,1628812636.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:17.027Z,1628812637.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:17.402Z,1628812637.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,00C8B,187,80,80,5A,FF
2021-08-12T23:57:17.402Z,1628812637.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:17.850Z,1628812637.850 [Micromodem](INFO): Nmea in: $SNTTA,0.105201,,,,235718.12*4E

2021-08-12T23:57:17.875Z,1628812637.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.159988 m, bearing: 156.611880 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-12T23:57:17.876Z,1628812637.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 156.611880deg and heading rate command to 0 deg/s.
2021-08-12T23:57:20.258Z,1628812640.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:20.637Z,1628812640.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:20.637Z,1628812640.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:20.637Z,1628812640.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:20.638Z,1628812640.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:21.037Z,1628812641.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,00C8B,187,80,80,5A,FF
2021-08-12T23:57:21.037Z,1628812641.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:21.037Z,1628812641.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:21.039Z,1628812641.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:21.445Z,1628812641.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:21.854Z,1628812641.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00CC0,188,80,80,5A,FF
2021-08-12T23:57:21.855Z,1628812641.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:22.289Z,1628812642.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235722.56*5E

2021-08-12T23:57:22.316Z,1628812642.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 146.665841 deg, deltaT: 4.466845 s, approachRate: 0.711914 m/s, LOS rate: -2.226636 deg/s, posRepo size: 2
2021-08-12T23:57:22.318Z,1628812642.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 146.665841 deg,
      approachRate: 0.711914 m/s,
      LOS rate: -2.226636 deg/s,
      cmd update: -6.679909 deg/s,
      cmd heading: 156.611880 deg,
      new cmd heading: 156.611880 deg.

2021-08-12T23:57:24.707Z,1628812644.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:25.077Z,1628812645.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:25.077Z,1628812645.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:25.077Z,1628812645.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:25.078Z,1628812645.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:25.477Z,1628812645.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00CC0,188,80,80,5A,FF
2021-08-12T23:57:25.477Z,1628812645.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:25.477Z,1628812645.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:25.479Z,1628812645.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:25.900Z,1628812645.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:26.298Z,1628812646.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,00CF6,18A,80,80,5A,FF
2021-08-12T23:57:26.298Z,1628812646.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:26.730Z,1628812646.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235727.00*58

2021-08-12T23:57:26.746Z,1628812646.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.579987 m, bearing: 100.151173 deg, deltaT: 4.435047 s, approachRate: 0.730542 m/s, LOS rate: -10.487977 deg/s, posRepo size: 3
2021-08-12T23:57:26.748Z,1628812646.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.579987 m,
      bearing: 100.151173 deg,
      approachRate: 0.730542 m/s,
      LOS rate: -10.487977 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.923232 deg,
      new cmd heading: 124.269264 deg.

2021-08-12T23:57:29.176Z,1628812649.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:29.517Z,1628812649.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:29.517Z,1628812649.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:29.517Z,1628812649.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:29.518Z,1628812649.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:29.933Z,1628812649.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B8,000,00CF6,18A,80,80,5A,FF
2021-08-12T23:57:29.934Z,1628812649.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:29.934Z,1628812649.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:29.941Z,1628812649.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:30.324Z,1628812650.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:30.734Z,1628812650.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,00CF6,18A,80,80,5A,FF
2021-08-12T23:57:30.734Z,1628812650.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:31.178Z,1628812651.178 [Micromodem](INFO): Nmea in: $SNTTA,0.111316,,,,235731.46*46

2021-08-12T23:57:31.244Z,1628812651.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.579987 m, bearing: 101.265266 deg, deltaT: 4.429810 s, approachRate: 0.000000 m/s, LOS rate: 0.251499 deg/s, posRepo size: 4
2021-08-12T23:57:31.246Z,1628812651.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.579987 m,
      bearing: 101.265266 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.251499 deg/s,
      cmd update: 0.754497 deg/s,
      cmd heading: 73.757711 deg,
      new cmd heading: 68.423771 deg.

2021-08-12T23:57:33.627Z,1628812653.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:33.972Z,1628812653.972 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:33.973Z,1628812653.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:33.973Z,1628812653.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:33.974Z,1628812653.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:34.373Z,1628812654.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,00CF6,18A,80,80,5A,FF
2021-08-12T23:57:34.373Z,1628812654.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:34.373Z,1628812654.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:34.375Z,1628812654.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:34.788Z,1628812654.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:35.626Z,1628812655.626 [Micromodem](INFO): Nmea in: $SNTTA,0.113341,,,,235735.90*49

2021-08-12T23:57:36.418Z,1628812656.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:38.021Z,1628812658.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:38.021Z,1628812658.021 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:38.022Z,1628812658.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:57:39.287Z,1628812659.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:39.628Z,1628812659.628 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:39.629Z,1628812659.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:39.629Z,1628812659.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:39.630Z,1628812659.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:40.025Z,1628812660.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:40.025Z,1628812660.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:40.025Z,1628812660.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:40.027Z,1628812660.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:40.429Z,1628812660.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:40.830Z,1628812660.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:40.830Z,1628812660.830 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0A2,000,,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:41.258Z,1628812661.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235741.55*58

2021-08-12T23:57:42.088Z,1628812662.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:44.985Z,1628812664.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:45.696Z,1628812665.696 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.066386
2021-08-12T23:57:47.727Z,1628812667.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:48.101Z,1628812668.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:48.101Z,1628812668.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:48.101Z,1628812668.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:48.102Z,1628812668.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:48.513Z,1628812668.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,,E4
6,18A,80,80,5A,FF
2021-08-12T23:57:48.513Z,1628812668.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:48.513Z,1628812668.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:48.515Z,1628812668.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:48.963Z,1628812668.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:49.330Z,1628812669.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D60,18A,80,80,5A,FF
2021-08-12T23:57:49.330Z,1628812669.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:49.753Z,1628812669.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235750.04*5C

2021-08-12T23:57:49.790Z,1628812669.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 19.721683 deg, deltaT: 18.604094 s, approachRate: 0.341861 m/s, LOS rate: -4.383098 deg/s, posRepo size: 4
2021-08-12T23:57:49.792Z,1628812669.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.940002 m,
      bearing: 19.721683 deg,
      approachRate: 0.341861 m/s,
      LOS rate: -4.383098 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 87.791382 deg,
      new cmd heading: 88.101183 deg.

2021-08-12T23:57:52.189Z,1628812672.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:52.558Z,1628812672.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:52.558Z,1628812672.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:52.558Z,1628812672.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:52.559Z,1628812672.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:53.009Z,1628812673.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D60,18A,80,80,5A,FF
2021-08-12T23:57:53.009Z,1628812673.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:53.009Z,1628812673.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:53.011Z,1628812673.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:53.400Z,1628812673.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:54.204Z,1628812674.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D5F,189,80,80,B6,FF
2021-08-12T23:57:54.205Z,1628812674.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:54.232Z,1628812674.232 [Micromodem](INFO): Nmea in: $SNTTA,0.117556,,,,235754.53*45

2021-08-12T23:57:54.644Z,1628812674.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.880005 m, bearing: 18.543455 deg, deltaT: 4.907477 s, approachRate: -0.012226 m/s, LOS rate: -0.240088 deg/s, posRepo size: 4
2021-08-12T23:57:54.646Z,1628812674.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 18.543455 deg,
      approachRate: -0.012226 m/s,
      LOS rate: -0.240088 deg/s,
      cmd update: -0.720265 deg/s,
      cmd heading: 28.905124 deg,
      new cmd heading: 24.809740 deg.

2021-08-12T23:57:57.073Z,1628812677.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:57:57.425Z,1628812677.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:57:57.426Z,1628812677.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:57:57.426Z,1628812677.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:57:57.427Z,1628812677.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:57:57.833Z,1628812677.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D5F,189,80,80,B6,FF
2021-08-12T23:57:57.833Z,1628812677.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:57:57.834Z,1628812677.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:57:57.835Z,1628812677.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:57:58.243Z,1628812678.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:57:58.651Z,1628812678.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D47,189,80,80,B6,FF
2021-08-12T23:57:58.652Z,1628812678.652 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:57:59.082Z,1628812679.082 [Micromodem](INFO): Nmea in: $SNTTA,0.110608,,,,235759.36*44

2021-08-12T23:57:59.138Z,1628812679.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.440002 m, bearing: 2.740219 deg, deltaT: 4.399164 s, approachRate: -0.327335 m/s, LOS rate: -3.592327 deg/s, posRepo size: 4
2021-08-12T23:57:59.157Z,1628812679.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 2.740219 deg,
      approachRate: -0.327335 m/s,
      LOS rate: -3.592327 deg/s,
      cmd update: -10.776981 deg/s,
      cmd heading: 25.736367 deg,
      new cmd heading: 25.410429 deg.

2021-08-12T23:58:01.513Z,1628812681.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:01.866Z,1628812681.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:01.866Z,1628812681.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:01.866Z,1628812681.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:01.867Z,1628812681.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:02.269Z,1628812682.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D47,189,80,80,B6,FF
2021-08-12T23:58:02.269Z,1628812682.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:02.269Z,1628812682.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:02.289Z,1628812682.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:02.685Z,1628812682.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:03.093Z,1628812683.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,336,000,00D47,189,80,80,B6,FF
2021-08-12T23:58:03.093Z,1628812683.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:03.513Z,1628812683.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235803.81*58

2021-08-12T23:58:03.536Z,1628812683.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.440002 m, bearing: 10.068568 deg, deltaT: 4.509879 s, approachRate: 0.000000 m/s, LOS rate: 1.624955 deg/s, posRepo size: 4
2021-08-12T23:58:03.538Z,1628812683.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 10.068568 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.624955 deg/s,
      cmd update: 4.874864 deg/s,
      cmd heading: 337.297299 deg,
      new cmd heading: 333.464811 deg.

2021-08-12T23:58:05.932Z,1628812685.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:06.309Z,1628812686.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:06.309Z,1628812686.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:06.309Z,1628812686.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:06.310Z,1628812686.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:06.729Z,1628812686.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
336,000,00D47,189,80,80,B6,FF
2021-08-12T23:58:06.729Z,1628812686.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:06.729Z,1628812686.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:06.731Z,1628812686.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:07.121Z,1628812687.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:07.526Z,1628812687.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,00D47,189,80,80,B6,FF
2021-08-12T23:58:07.526Z,1628812687.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:07.967Z,1628812687.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235808.26*5E

2021-08-12T23:58:08.011Z,1628812688.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.440002 m, bearing: 4.482939 deg, deltaT: 4.372280 s, approachRate: 0.000000 m/s, LOS rate: -1.277509 deg/s, posRepo size: 4
2021-08-12T23:58:08.014Z,1628812688.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 4.482939 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.277509 deg/s,
      cmd update: -3.832528 deg/s,
      cmd heading: 358.586469 deg,
      new cmd heading: 0.842507 deg.

2021-08-12T23:58:10.367Z,1628812690.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:10.755Z,1628812690.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:10.756Z,1628812690.756 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:10.756Z,1628812690.756 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:10.757Z,1628812690.757 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:11.182Z,1628812691.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,00D47,189,80,80,B6,FF
2021-08-12T23:58:11.182Z,1628812691.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:11.182Z,1628812691.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:11.192Z,1628812691.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:11.593Z,1628812691.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:12.027Z,1628812692.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00CE1,186,80,80,7D,FF
2021-08-12T23:58:12.028Z,1628812692.028 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:12.417Z,1628812692.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235812.72*54

2021-08-12T23:58:12.455Z,1628812692.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.320007 m, bearing: 7.406439 deg, deltaT: 4.530916 s, approachRate: -1.350719 m/s, LOS rate: 0.645234 deg/s, posRepo size: 4
2021-08-12T23:58:12.457Z,1628812692.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.320007 m,
      bearing: 7.406439 deg,
      approachRate: -1.350719 m/s,
      LOS rate: 0.645234 deg/s,
      cmd update: 1.935701 deg/s,
      cmd heading: 341.260401 deg,
      new cmd heading: 339.780006 deg.

2021-08-12T23:58:14.832Z,1628812694.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:15.225Z,1628812695.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:15.225Z,1628812695.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:15.225Z,1628812695.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:15.226Z,1628812695.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:15.629Z,1628812695.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00CE1,186,80,80,7D,FF
2021-08-12T23:58:15.629Z,1628812695.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:15.629Z,1628812695.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:15.631Z,1628812695.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:16.029Z,1628812696.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:16.437Z,1628812696.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00CB7,186,80,80,7D,FF
2021-08-12T23:58:16.438Z,1628812696.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:16.888Z,1628812696.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235817.15*50

2021-08-12T23:58:16.987Z,1628812696.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.800003 m, bearing: 8.091855 deg, deltaT: 4.376013 s, approachRate: -0.575868 m/s, LOS rate: 0.156630 deg/s, posRepo size: 4
2021-08-12T23:58:16.993Z,1628812696.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.800003 m,
      bearing: 8.091855 deg,
      approachRate: -0.575868 m/s,
      LOS rate: 0.156630 deg/s,
      cmd update: 0.469890 deg/s,
      cmd heading: 349.759083 deg,
      new cmd heading: 350.781478 deg.

2021-08-12T23:58:18.983Z,1628812698.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:19.257Z,1628812699.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:19.257Z,1628812699.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:19.257Z,1628812699.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:19.258Z,1628812699.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:19.661Z,1628812699.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00CB7,186,80,80,7D,FF
2021-08-12T23:58:19.661Z,1628812699.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:19.661Z,1628812699.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:19.663Z,1628812699.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:20.077Z,1628812700.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:20.474Z,1628812700.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00C8E,187,80,80,7D,FF
2021-08-12T23:58:20.474Z,1628812700.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:20.950Z,1628812700.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235821.19*59

2021-08-12T23:58:21.056Z,1628812701.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.340012 m, bearing: 8.458711 deg, deltaT: 4.053965 s, approachRate: -0.606811 m/s, LOS rate: 0.090493 deg/s, posRepo size: 4
2021-08-12T23:58:21.058Z,1628812701.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 8.458711 deg,
      approachRate: -0.606811 m/s,
      LOS rate: 0.090493 deg/s,
      cmd update: 0.271480 deg/s,
      cmd heading: 351.669555 deg,
      new cmd heading: 351.919242 deg.

2021-08-12T23:58:23.323Z,1628812703.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:23.713Z,1628812703.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:23.713Z,1628812703.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:23.713Z,1628812703.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:23.714Z,1628812703.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:24.101Z,1628812704.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00C8E,187,80,80,7D,FF
2021-08-12T23:58:24.102Z,1628812704.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:24.102Z,1628812704.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:24.104Z,1628812704.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:24.521Z,1628812704.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:24.965Z,1628812704.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00C61,185,80,80,A0,FF
2021-08-12T23:58:24.966Z,1628812704.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:25.357Z,1628812705.357 [Micromodem](INFO): Nmea in: $SNTTA,0.104374,,,,235825.63*4B

2021-08-12T23:58:25.392Z,1628812705.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.640015 m, bearing: 9.269839 deg, deltaT: 4.513821 s, approachRate: -0.598162 m/s, LOS rate: 0.179699 deg/s, posRepo size: 4
2021-08-12T23:58:25.394Z,1628812705.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.640015 m,
      bearing: 9.269839 deg,
      approachRate: -0.598162 m/s,
      LOS rate: 0.179699 deg/s,
      cmd update: 0.539096 deg/s,
      cmd heading: 352.895742 deg,
      new cmd heading: 352.990926 deg.

2021-08-12T23:58:27.783Z,1628812707.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:28.153Z,1628812708.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:28.153Z,1628812708.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:28.153Z,1628812708.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:28.154Z,1628812708.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:28.553Z,1628812708.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00C61,185,80,80,A0,FF
2021-08-12T23:58:28.553Z,1628812708.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:28.553Z,1628812708.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:28.555Z,1628812708.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:29.001Z,1628812709.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:29.364Z,1628812709.364 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00C35,187,80,80,AB,FF
2021-08-12T23:58:29.365Z,1628812709.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:29.801Z,1628812709.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235830.08*59

2021-08-12T23:58:29.844Z,1628812709.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.000000 m, bearing: 8.411518 deg, deltaT: 4.335771 s, approachRate: -0.608892 m/s, LOS rate: -0.197963 deg/s, posRepo size: 4
2021-08-12T23:58:29.847Z,1628812709.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.000000 m,
      bearing: 8.411518 deg,
      approachRate: -0.608892 m/s,
      LOS rate: -0.197963 deg/s,
      cmd update: -0.593888 deg/s,
      cmd heading: 355.236067 deg,
      new cmd heading: 355.484156 deg.

2021-08-12T23:58:32.213Z,1628812712.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:32.593Z,1628812712.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:32.593Z,1628812712.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:32.594Z,1628812712.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:32.595Z,1628812712.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:33.022Z,1628812713.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00C35,187,80,80,AB,FF
2021-08-12T23:58:33.022Z,1628812713.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:33.022Z,1628812713.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:33.023Z,1628812713.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:33.401Z,1628812713.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:33.810Z,1628812713.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00C09,187,80,80,AB,FF
2021-08-12T23:58:33.810Z,1628812713.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:34.235Z,1628812714.235 [Micromodem](INFO): Nmea in: $SNTTA,0.097991,,,,235834.55*44

2021-08-12T23:58:34.261Z,1628812714.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 8.685681 deg, deltaT: 4.489978 s, approachRate: -0.587976 m/s, LOS rate: 0.061061 deg/s, posRepo size: 4
2021-08-12T23:58:34.263Z,1628812714.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.360001 m,
      bearing: 8.685681 deg,
      approachRate: -0.587976 m/s,
      LOS rate: 0.061061 deg/s,
      cmd update: 0.183183 deg/s,
      cmd heading: 352.581619 deg,
      new cmd heading: 352.338818 deg.

2021-08-12T23:58:36.647Z,1628812716.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:37.033Z,1628812717.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:37.033Z,1628812717.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:37.033Z,1628812717.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:37.034Z,1628812717.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:37.441Z,1628812717.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00C09,187,80,80,AB,FF
2021-08-12T23:58:37.441Z,1628812717.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:37.442Z,1628812717.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:37.443Z,1628812717.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:37.874Z,1628812717.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:38.254Z,1628812718.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00BDB,186,80,80,94,FF
2021-08-12T23:58:38.254Z,1628812718.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:38.707Z,1628812718.707 [Micromodem](INFO): Nmea in: $SNTTA,0.098441,,,,235838.97*49

2021-08-12T23:58:38.724Z,1628812718.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.600006 m, bearing: 11.284784 deg, deltaT: 4.436835 s, approachRate: -0.622064 m/s, LOS rate: 0.585801 deg/s, posRepo size: 4
2021-08-12T23:58:38.726Z,1628812718.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.600006 m,
      bearing: 11.284784 deg,
      approachRate: -0.622064 m/s,
      LOS rate: 0.585801 deg/s,
      cmd update: 1.757403 deg/s,
      cmd heading: 353.397279 deg,
      new cmd heading: 353.473969 deg.

2021-08-12T23:58:41.155Z,1628812721.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:41.477Z,1628812721.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:41.477Z,1628812721.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:41.477Z,1628812721.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:41.478Z,1628812721.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:41.889Z,1628812721.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00BDB,186,80,80,94,FF
2021-08-12T23:58:41.889Z,1628812721.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:41.889Z,1628812721.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:41.891Z,1628812721.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:42.299Z,1628812722.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:42.701Z,1628812722.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00BAD,186,80,80,89,FF
2021-08-12T23:58:42.701Z,1628812722.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:43.130Z,1628812723.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235843.42*53

2021-08-12T23:58:43.195Z,1628812723.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 11.204017 deg, deltaT: 4.432620 s, approachRate: -0.622655 m/s, LOS rate: -0.018221 deg/s, posRepo size: 4
2021-08-12T23:58:43.198Z,1628812723.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 11.204017 deg,
      approachRate: -0.622655 m/s,
      LOS rate: -0.018221 deg/s,
      cmd update: -0.054663 deg/s,
      cmd heading: 1.195112 deg,
      new cmd heading: 1.991671 deg.

2021-08-12T23:58:45.550Z,1628812725.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:45.925Z,1628812725.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:45.925Z,1628812725.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:45.925Z,1628812725.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:45.926Z,1628812725.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:46.329Z,1628812726.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00BAD,186,80,80,89,FF
2021-08-12T23:58:46.329Z,1628812726.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:46.329Z,1628812726.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:46.331Z,1628812726.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:46.732Z,1628812726.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:47.137Z,1628812727.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00B7D,186,80,80,A9,FF
2021-08-12T23:58:47.137Z,1628812727.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:47.573Z,1628812727.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235847.86*5F

2021-08-12T23:58:47.608Z,1628812727.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.960007 m, bearing: 10.880140 deg, deltaT: 4.487951 s, approachRate: -0.641719 m/s, LOS rate: -0.072166 deg/s, posRepo size: 4
2021-08-12T23:58:47.610Z,1628812727.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 10.880140 deg,
      approachRate: -0.641719 m/s,
      LOS rate: -0.072166 deg/s,
      cmd update: -0.216498 deg/s,
      cmd heading: 0.950018 deg,
      new cmd heading: 0.929149 deg.

2021-08-12T23:58:50.013Z,1628812730.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:50.371Z,1628812730.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:50.371Z,1628812730.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:50.371Z,1628812730.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:50.373Z,1628812730.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:50.779Z,1628812730.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00B7D,186,80,80,A9,FF
2021-08-12T23:58:50.779Z,1628812730.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:50.779Z,1628812730.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:50.781Z,1628812730.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:51.185Z,1628812731.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:51.589Z,1628812731.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00B51,187,80,80,A9,FF
2021-08-12T23:58:51.589Z,1628812731.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:52.045Z,1628812732.045 [Micromodem](INFO): Nmea in: $SNTTA,0.090643,,,,235852.31*41

2021-08-12T23:58:52.071Z,1628812732.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.319992 m, bearing: 11.053937 deg, deltaT: 4.396728 s, approachRate: -0.600450 m/s, LOS rate: 0.039529 deg/s, posRepo size: 4
2021-08-12T23:58:52.073Z,1628812732.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 11.053937 deg,
      approachRate: -0.600450 m/s,
      LOS rate: 0.039529 deg/s,
      cmd update: 0.118587 deg/s,
      cmd heading: 359.997283 deg,
      new cmd heading: 359.901049 deg.

2021-08-12T23:58:54.459Z,1628812734.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:54.821Z,1628812734.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:54.821Z,1628812734.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:54.821Z,1628812734.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:54.822Z,1628812734.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:55.225Z,1628812735.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00B51,187,80,80,A9,FF
2021-08-12T23:58:55.225Z,1628812735.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:55.225Z,1628812735.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:55.227Z,1628812735.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:58:55.629Z,1628812735.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:58:56.042Z,1628812736.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00B20,186,80,80,BA,FF
2021-08-12T23:58:56.043Z,1628812736.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:58:56.469Z,1628812736.469 [Micromodem](INFO): Nmea in: $SNTTA,,0.093145,,,235856.75*47

2021-08-12T23:58:56.492Z,1628812736.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.380005 m, bearing: 12.303832 deg, deltaT: 4.442911 s, approachRate: -0.661725 m/s, LOS rate: 0.281323 deg/s, posRepo size: 4
2021-08-12T23:58:56.494Z,1628812736.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.380005 m,
      bearing: 12.303832 deg,
      approachRate: -0.661725 m/s,
      LOS rate: 0.281323 deg/s,
      cmd update: 0.843970 deg/s,
      cmd heading: 0.524183 deg,
      new cmd heading: 0.574222 deg.

2021-08-12T23:58:58.974Z,1628812738.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:58:59.259Z,1628812739.259 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:58:59.259Z,1628812739.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:58:59.259Z,1628812739.259 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:58:59.260Z,1628812739.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:58:59.661Z,1628812739.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00B20,186,80,80,BA,FF
2021-08-12T23:58:59.661Z,1628812739.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:58:59.661Z,1628812739.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:58:59.663Z,1628812739.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:00.067Z,1628812740.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:00.469Z,1628812740.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00AEF,186,80,80,AC,FF
2021-08-12T23:59:00.469Z,1628812740.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:00.961Z,1628812740.961 [Micromodem](INFO): Nmea in: $SNTTA,0.383006,,,,235901.19*4A

2021-08-12T23:59:01.046Z,1628812741.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.440002 m, bearing: 11.027836 deg, deltaT: 4.417548 s, approachRate: -0.665528 m/s, LOS rate: -0.288847 deg/s, posRepo size: 4
2021-08-12T23:59:01.053Z,1628812741.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.440002 m,
      bearing: 11.027836 deg,
      approachRate: -0.665528 m/s,
      LOS rate: -0.288847 deg/s,
      cmd update: -0.866542 deg/s,
      cmd heading: 4.252130 deg,
      new cmd heading: 4.724419 deg.

2021-08-12T23:59:03.043Z,1628812743.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:03.314Z,1628812743.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:03.314Z,1628812743.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:03.314Z,1628812743.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:03.315Z,1628812743.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:03.713Z,1628812743.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00AEF,186,80,80,AC,FF
2021-08-12T23:59:03.713Z,1628812743.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:03.713Z,1628812743.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:03.715Z,1628812743.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:04.135Z,1628812744.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:04.529Z,1628812744.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00AC6,187,80,80,AA,FF
2021-08-12T23:59:04.530Z,1628812744.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:05.021Z,1628812745.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235905.24*50

2021-08-12T23:59:05.102Z,1628812745.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 12.334026 deg, deltaT: 4.091401 s, approachRate: -0.601261 m/s, LOS rate: 0.319253 deg/s, posRepo size: 4
2021-08-12T23:59:05.108Z,1628812745.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 12.334026 deg,
      approachRate: -0.601261 m/s,
      LOS rate: 0.319253 deg/s,
      cmd update: 0.957758 deg/s,
      cmd heading: 0.709917 deg,
      new cmd heading: 0.252689 deg.

2021-08-12T23:59:07.395Z,1628812747.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:07.753Z,1628812747.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:07.753Z,1628812747.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:07.753Z,1628812747.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:07.754Z,1628812747.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:08.171Z,1628812748.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00AC6,187,80,80,AA,FF
2021-08-12T23:59:08.171Z,1628812748.171 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:08.172Z,1628812748.172 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:08.174Z,1628812748.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:08.574Z,1628812748.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:09.026Z,1628812749.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,00A97,186,80,80,96,FF
2021-08-12T23:59:09.027Z,1628812749.027 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:09.413Z,1628812749.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235909.70*5D

2021-08-12T23:59:09.436Z,1628812749.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.159996 m, bearing: 13.044977 deg, deltaT: 4.545769 s, approachRate: -0.620359 m/s, LOS rate: 0.156399 deg/s, posRepo size: 4
2021-08-12T23:59:09.438Z,1628812749.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.159996 m,
      bearing: 13.044977 deg,
      approachRate: -0.620359 m/s,
      LOS rate: 0.156399 deg/s,
      cmd update: 0.469196 deg/s,
      cmd heading: 5.063335 deg,
      new cmd heading: 5.365754 deg.

2021-08-12T23:59:11.816Z,1628812751.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:12.205Z,1628812752.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:12.205Z,1628812752.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:12.205Z,1628812752.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:12.206Z,1628812752.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:12.597Z,1628812752.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,00A97,186,80,80,96,FF
2021-08-12T23:59:12.597Z,1628812752.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:12.597Z,1628812752.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:12.599Z,1628812752.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:13.036Z,1628812753.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:13.429Z,1628812753.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F28,000,00A69,186,80,80,B0,FF
2021-08-12T23:59:13.429Z,1628812753.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:13.874Z,1628812753.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235914.12*55

2021-08-12T23:59:13.902Z,1628812753.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.400002 m, bearing: 13.691601 deg, deltaT: 4.350347 s, approachRate: -0.634431 m/s, LOS rate: 0.148637 deg/s, posRepo size: 4
2021-08-12T23:59:13.941Z,1628812753.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 13.691601 deg,
      approachRate: -0.634431 m/s,
      LOS rate: 0.148637 deg/s,
      cmd update: 0.445912 deg/s,
      cmd heading: 7.104584 deg,
      new cmd heading: 7.306929 deg.

2021-08-12T23:59:16.295Z,1628812756.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:16.661Z,1628812756.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:16.661Z,1628812756.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:16.661Z,1628812756.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:16.662Z,1628812756.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:17.065Z,1628812757.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F28,000,00A69,186,80,80,B0,FF
2021-08-12T23:59:17.066Z,1628812757.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:17.066Z,1628812757.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:17.067Z,1628812757.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:17.473Z,1628812757.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:17.874Z,1628812757.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00A3B,187,80,80,BB,FF
2021-08-12T23:59:17.875Z,1628812757.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:18.314Z,1628812758.314 [Micromodem](INFO): Nmea in: $SNTTA,0.079521,,,,235918.59*40

2021-08-12T23:59:18.344Z,1628812758.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 13.851524 deg, deltaT: 4.450643 s, approachRate: -0.620136 m/s, LOS rate: 0.035933 deg/s, posRepo size: 4
2021-08-12T23:59:18.346Z,1628812758.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.639999 m,
      bearing: 13.851524 deg,
      approachRate: -0.620136 m/s,
      LOS rate: 0.035933 deg/s,
      cmd update: 0.107798 deg/s,
      cmd heading: 9.076429 deg,
      new cmd heading: 9.277765 deg.

2021-08-12T23:59:20.715Z,1628812760.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:21.105Z,1628812761.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:21.105Z,1628812761.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:21.105Z,1628812761.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:21.106Z,1628812761.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:21.505Z,1628812761.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00A3B,187,80,80,BB,FF
2021-08-12T23:59:21.505Z,1628812761.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:21.505Z,1628812761.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:21.507Z,1628812761.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:21.920Z,1628812761.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:22.317Z,1628812762.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00A0B,186,80,80,9F,FF
2021-08-12T23:59:22.317Z,1628812762.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:22.761Z,1628812762.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235923.03*51

2021-08-12T23:59:22.796Z,1628812762.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.760002 m, bearing: 14.060423 deg, deltaT: 4.424713 s, approachRate: -0.650889 m/s, LOS rate: 0.047212 deg/s, posRepo size: 4
2021-08-12T23:59:22.798Z,1628812762.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.760002 m,
      bearing: 14.060423 deg,
      approachRate: -0.650889 m/s,
      LOS rate: 0.047212 deg/s,
      cmd update: 0.141635 deg/s,
      cmd heading: 9.556855 deg,
      new cmd heading: 9.604959 deg.

2021-08-12T23:59:25.221Z,1628812765.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:25.545Z,1628812765.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:25.545Z,1628812765.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:25.545Z,1628812765.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:25.546Z,1628812765.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:25.970Z,1628812765.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00A0B,186,80,80,9F,FF
2021-08-12T23:59:25.970Z,1628812765.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:25.970Z,1628812765.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:25.976Z,1628812765.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:26.369Z,1628812766.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:26.765Z,1628812766.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,009DD,185,80,80,BE,FF
2021-08-12T23:59:26.766Z,1628812766.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:27.197Z,1628812767.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235927.50*53

2021-08-12T23:59:27.263Z,1628812767.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 14.500002 deg, deltaT: 4.457303 s, approachRate: -0.619207 m/s, LOS rate: 0.098620 deg/s, posRepo size: 4
2021-08-12T23:59:27.269Z,1628812767.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.000008 m,
      bearing: 14.500002 deg,
      approachRate: -0.619207 m/s,
      LOS rate: 0.098620 deg/s,
      cmd update: 0.295860 deg/s,
      cmd heading: 10.188247 deg,
      new cmd heading: 10.252759 deg.

2021-08-12T23:59:29.625Z,1628812769.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:30.009Z,1628812770.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:30.009Z,1628812770.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:30.009Z,1628812770.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:30.010Z,1628812770.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:30.393Z,1628812770.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,009DD,185,80,80,BE,FF
2021-08-12T23:59:30.393Z,1628812770.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:30.393Z,1628812770.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:30.395Z,1628812770.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:30.801Z,1628812770.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:31.626Z,1628812771.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235931.92*5A

2021-08-12T23:59:32.454Z,1628812772.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:34.029Z,1628812774.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,185,80,80,BE,FF
2021-08-12T23:59:34.029Z,1628812774.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,185,80,80,BE,FF
2021-08-12T23:59:34.030Z,1628812774.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-12T23:59:35.313Z,1628812775.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:35.645Z,1628812775.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:35.645Z,1628812775.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:35.645Z,1628812775.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:35.646Z,1628812775.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:36.049Z,1628812776.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,185,80,80,BE,FF
2021-08-12T23:59:36.049Z,1628812776.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:36.049Z,1628812776.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:36.051Z,1628812776.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:36.461Z,1628812776.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:36.858Z,1628812776.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,0096D,186,80,80,A2,FF
2021-08-12T23:59:36.859Z,1628812776.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:37.298Z,1628812777.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235937.58*5A

2021-08-12T23:59:37.363Z,1628812777.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 13.916415 deg, deltaT: 10.179800 s, approachRate: -0.660132 m/s, LOS rate: -0.057328 deg/s, posRepo size: 4
2021-08-12T23:59:37.370Z,1628812777.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 13.916415 deg,
      approachRate: -0.660132 m/s,
      LOS rate: -0.057328 deg/s,
      cmd update: -0.171984 deg/s,
      cmd heading: 13.198918 deg,
      new cmd heading: 13.311380 deg.

2021-08-12T23:59:39.713Z,1628812779.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:40.089Z,1628812780.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:40.089Z,1628812780.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:40.089Z,1628812780.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:40.090Z,1628812780.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:40.493Z,1628812780.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,0096D,186,80,80,A2,FF
2021-08-12T23:59:40.494Z,1628812780.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:40.494Z,1628812780.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:40.495Z,1628812780.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:40.960Z,1628812780.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:41.301Z,1628812781.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00943,183,80,80,89,FF
2021-08-12T23:59:41.301Z,1628812781.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:41.745Z,1628812781.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235942.02*57

2021-08-12T23:59:41.768Z,1628812781.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.760002 m, bearing: 11.867955 deg, deltaT: 4.367871 s, approachRate: -0.576939 m/s, LOS rate: -0.468984 deg/s, posRepo size: 4
2021-08-12T23:59:41.770Z,1628812781.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.760002 m,
      bearing: 11.867955 deg,
      approachRate: -0.576939 m/s,
      LOS rate: -0.468984 deg/s,
      cmd update: -1.406951 deg/s,
      cmd heading: 12.447766 deg,
      new cmd heading: 12.376077 deg.

2021-08-12T23:59:44.166Z,1628812784.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:44.537Z,1628812784.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:44.537Z,1628812784.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:44.537Z,1628812784.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:44.538Z,1628812784.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:44.990Z,1628812784.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00943,183,80,80,89,FF
2021-08-12T23:59:44.990Z,1628812784.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:44.990Z,1628812784.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:44.992Z,1628812784.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:45.377Z,1628812785.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:45.769Z,1628812785.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00912,185,80,80,89,FF
2021-08-12T23:59:45.769Z,1628812785.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:46.196Z,1628812786.196 [Micromodem](INFO): Nmea in: $SNTTA,0.075320,,,,235946.52*4B

2021-08-12T23:59:46.239Z,1628812786.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.820007 m, bearing: 13.780513 deg, deltaT: 4.431710 s, approachRate: -0.663400 m/s, LOS rate: 0.431562 deg/s, posRepo size: 4
2021-08-12T23:59:46.246Z,1628812786.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.820007 m,
      bearing: 13.780513 deg,
      approachRate: -0.663400 m/s,
      LOS rate: 0.431562 deg/s,
      cmd update: 1.294686 deg/s,
      cmd heading: 6.206762 deg,
      new cmd heading: 5.570538 deg.

2021-08-12T23:59:48.627Z,1628812788.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:49.024Z,1628812789.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:49.024Z,1628812789.024 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:49.024Z,1628812789.024 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:49.025Z,1628812789.025 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:49.404Z,1628812789.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00912,185,80,80,89,FF
2021-08-12T23:59:49.404Z,1628812789.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:49.404Z,1628812789.404 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:49.406Z,1628812789.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:49.804Z,1628812789.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:50.209Z,1628812790.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,008DE,186,80,80,A8,FF
2021-08-12T23:59:50.209Z,1628812790.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:50.645Z,1628812790.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,235950.93*5C

2021-08-12T23:59:50.675Z,1628812790.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.700005 m, bearing: 14.006459 deg, deltaT: 4.469472 s, approachRate: -0.698070 m/s, LOS rate: 0.050553 deg/s, posRepo size: 4
2021-08-12T23:59:50.680Z,1628812790.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.700005 m,
      bearing: 14.006459 deg,
      approachRate: -0.698070 m/s,
      LOS rate: 0.050553 deg/s,
      cmd update: 0.151660 deg/s,
      cmd heading: 11.967523 deg,
      new cmd heading: 12.535668 deg.

2021-08-12T23:59:53.103Z,1628812793.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:53.443Z,1628812793.443 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:53.443Z,1628812793.443 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:53.443Z,1628812793.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:53.444Z,1628812793.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:53.842Z,1628812793.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,008DE,186,80,80,A8,FF
2021-08-12T23:59:53.842Z,1628812793.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:53.842Z,1628812793.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:53.861Z,1628812793.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:54.253Z,1628812794.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:54.657Z,1628812794.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,008AF,184,80,80,AE,FF
2021-08-12T23:59:54.658Z,1628812794.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:55.085Z,1628812795.085 [Micromodem](INFO): Nmea in: $SNTTA,0.086194,,,,235955.39*45

2021-08-12T23:59:55.157Z,1628812795.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 14.229632 deg, deltaT: 4.418819 s, approachRate: -0.638181 m/s, LOS rate: 0.050505 deg/s, posRepo size: 4
2021-08-12T23:59:55.159Z,1628812795.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.879997 m,
      bearing: 14.229632 deg,
      approachRate: -0.638181 m/s,
      LOS rate: 0.050505 deg/s,
      cmd update: 0.151515 deg/s,
      cmd heading: 12.640689 deg,
      new cmd heading: 12.713888 deg.

2021-08-12T23:59:57.518Z,1628812797.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-12T23:59:57.897Z,1628812797.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-12T23:59:57.897Z,1628812797.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-12T23:59:57.897Z,1628812797.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-12T23:59:57.898Z,1628812797.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-12T23:59:58.299Z,1628812798.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,008AF,184,80,80,AE,FF
2021-08-12T23:59:58.300Z,1628812798.300 [DUSBL_Hydroid](INFO): Command Ack
2021-08-12T23:59:58.300Z,1628812798.300 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-12T23:59:58.302Z,1628812798.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-12T23:59:58.720Z,1628812798.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-12T23:59:59.102Z,1628812799.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0087D,186,80,80,9C,FF
2021-08-12T23:59:59.102Z,1628812799.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-12T23:59:59.105Z,1628812799.105 [Micromodem](INFO): Nmea in: $SNTTA,0.205770,0.205758,,,235959.83*5E

2021-08-12T23:59:59.557Z,1628812799.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.880005 m, bearing: 15.182491 deg, deltaT: 4.531252 s, approachRate: -0.662067 m/s, LOS rate: 0.210286 deg/s, posRepo size: 4
2021-08-12T23:59:59.559Z,1628812799.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.880005 m,
      bearing: 15.182491 deg,
      approachRate: -0.662067 m/s,
      LOS rate: 0.210286 deg/s,
      cmd update: 0.630858 deg/s,
      cmd heading: 13.326660 deg,
      new cmd heading: 13.380223 deg.

2021-08-13T00:00:02.002Z,1628812802.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:02.329Z,1628812802.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:02.329Z,1628812802.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:02.329Z,1628812802.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:02.330Z,1628812802.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:02.745Z,1628812802.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0087D,186,80,80,9C,FF
2021-08-13T00:00:02.745Z,1628812802.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:02.745Z,1628812802.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:02.747Z,1628812802.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:03.149Z,1628812803.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:03.546Z,1628812803.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00851,185,80,80,B7,FF
2021-08-13T00:00:03.547Z,1628812803.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:03.985Z,1628812803.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000004.27*5F

2021-08-13T00:00:04.011Z,1628812804.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.240005 m, bearing: 14.312885 deg, deltaT: 4.394462 s, approachRate: -0.600756 m/s, LOS rate: -0.197887 deg/s, posRepo size: 4
2021-08-13T00:00:04.013Z,1628812804.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.240005 m,
      bearing: 14.312885 deg,
      approachRate: -0.600756 m/s,
      LOS rate: -0.197887 deg/s,
      cmd update: -0.593660 deg/s,
      cmd heading: 16.096344 deg,
      new cmd heading: 16.360367 deg.

2021-08-13T00:00:06.383Z,1628812806.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:06.770Z,1628812806.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:06.770Z,1628812806.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:06.770Z,1628812806.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:06.771Z,1628812806.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:07.181Z,1628812807.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00851,185,80,80,B7,FF
2021-08-13T00:00:07.182Z,1628812807.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:07.182Z,1628812807.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:07.183Z,1628812807.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:07.587Z,1628812807.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:08.017Z,1628812808.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,0081F,183,80,80,B6,FF
2021-08-13T00:00:08.017Z,1628812808.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:08.434Z,1628812808.434 [Micromodem](INFO): Nmea in: $SNTTA,0.075088,,,,000008.71*4C

2021-08-13T00:00:08.451Z,1628812808.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.239998 m, bearing: 13.970279 deg, deltaT: 4.442960 s, approachRate: -0.675227 m/s, LOS rate: -0.077112 deg/s, posRepo size: 4
2021-08-13T00:00:08.453Z,1628812808.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.239998 m,
      bearing: 13.970279 deg,
      approachRate: -0.675227 m/s,
      LOS rate: -0.077112 deg/s,
      cmd update: -0.231336 deg/s,
      cmd heading: 13.453952 deg,
      new cmd heading: 13.212264 deg.

2021-08-13T00:00:10.861Z,1628812810.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:11.221Z,1628812811.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:11.221Z,1628812811.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:11.221Z,1628812811.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:11.222Z,1628812811.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:11.626Z,1628812811.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,0081F,183,80,80,B6,FF
2021-08-13T00:00:11.626Z,1628812811.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:11.627Z,1628812811.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:11.630Z,1628812811.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:12.025Z,1628812812.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:12.838Z,1628812812.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000013.19*54

2021-08-13T00:00:13.641Z,1628812813.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,03AEC,184,80,80,9F,FF
2021-08-13T00:00:13.641Z,1628812813.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:14.119Z,1628812814.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 867.540039 m, bearing: 15.456725 deg, deltaT: 5.686053 s, approachRate: 137.230530 m/s, LOS rate: 0.261420 deg/s, posRepo size: 4
2021-08-13T00:00:14.125Z,1628812814.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 867.540039 m,
      bearing: 15.456725 deg,
      approachRate: 137.230530 m/s,
      LOS rate: 0.261420 deg/s,
      cmd update: 0.784259 deg/s,
      cmd heading: 12.140838 deg,
      new cmd heading: 12.049930 deg.

2021-08-13T00:00:16.483Z,1628812816.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:16.878Z,1628812816.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:16.879Z,1628812816.879 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:16.879Z,1628812816.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:16.880Z,1628812816.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:17.292Z,1628812817.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,03AEC,184,80,80,9F,FF
2021-08-13T00:00:17.292Z,1628812817.292 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:17.293Z,1628812817.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:17.294Z,1628812817.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:17.680Z,1628812817.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:18.086Z,1628812818.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,007B1,185,80,80,BF,FF
2021-08-13T00:00:18.086Z,1628812818.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:18.521Z,1628812818.521 [Micromodem](INFO): Nmea in: $SNTTA,0.062308,,,,000018.82*4C

2021-08-13T00:00:18.544Z,1628812818.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 14.126951 deg, deltaT: 4.383181 s, approachRate: -179.527161 m/s, LOS rate: -0.303381 deg/s, posRepo size: 4
2021-08-13T00:00:18.546Z,1628812818.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 14.126951 deg,
      approachRate: -179.527161 m/s,
      LOS rate: -0.303381 deg/s,
      cmd update: -0.910143 deg/s,
      cmd heading: 15.586061 deg,
      new cmd heading: 15.923924 deg.

2021-08-13T00:00:21.037Z,1628812821.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:21.328Z,1628812821.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:21.328Z,1628812821.328 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:21.328Z,1628812821.328 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:21.329Z,1628812821.329 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:21.717Z,1628812821.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,007B1,185,80,80,BF,FF
2021-08-13T00:00:21.717Z,1628812821.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:21.717Z,1628812821.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:21.719Z,1628812821.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:22.130Z,1628812822.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:22.525Z,1628812822.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,0077C,184,80,80,A0,FF
2021-08-13T00:00:22.525Z,1628812822.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:23.005Z,1628812823.005 [Micromodem](INFO): Nmea in: $SNTTA,0.060592,,,,000023.24*4F

2021-08-13T00:00:23.096Z,1628812823.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 14.898828 deg, deltaT: 4.457339 s, approachRate: -0.713428 m/s, LOS rate: 0.173170 deg/s, posRepo size: 4
2021-08-13T00:00:23.098Z,1628812823.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.460007 m,
      bearing: 14.898828 deg,
      approachRate: -0.713428 m/s,
      LOS rate: 0.173170 deg/s,
      cmd update: 0.519510 deg/s,
      cmd heading: 11.532652 deg,
      new cmd heading: 11.050571 deg.

2021-08-13T00:00:25.089Z,1628812825.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:25.365Z,1628812825.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:25.365Z,1628812825.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:25.365Z,1628812825.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:25.366Z,1628812825.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:25.765Z,1628812825.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,0077C,184,80,80,A0,FF
2021-08-13T00:00:25.765Z,1628812825.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:25.765Z,1628812825.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:25.767Z,1628812825.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:26.173Z,1628812826.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:26.569Z,1628812826.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00755,185,80,80,60,FF
2021-08-13T00:00:26.570Z,1628812826.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:27.021Z,1628812827.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000027.29*50

2021-08-13T00:00:27.126Z,1628812827.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.120003 m, bearing: 15.449135 deg, deltaT: 4.044938 s, approachRate: -0.578502 m/s, LOS rate: 0.136048 deg/s, posRepo size: 4
2021-08-13T00:00:27.134Z,1628812827.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.120003 m,
      bearing: 15.449135 deg,
      approachRate: -0.578502 m/s,
      LOS rate: 0.136048 deg/s,
      cmd update: 0.408145 deg/s,
      cmd heading: 13.634022 deg,
      new cmd heading: 13.898650 deg.

2021-08-13T00:00:29.424Z,1628812829.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:29.801Z,1628812829.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:29.801Z,1628812829.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:29.801Z,1628812829.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:29.802Z,1628812829.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:30.209Z,1628812830.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00755,185,80,80,60,FF
2021-08-13T00:00:30.209Z,1628812830.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:30.210Z,1628812830.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:30.211Z,1628812830.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:30.612Z,1628812830.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:31.025Z,1628812831.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00720,183,80,80,C0,FF
2021-08-13T00:00:31.025Z,1628812831.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:31.453Z,1628812831.453 [Micromodem](INFO): Nmea in: $SNTTA,0.074525,,,,000031.74*40

2021-08-13T00:00:31.487Z,1628812831.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 14.307009 deg, deltaT: 4.493778 s, approachRate: -0.707647 m/s, LOS rate: -0.254157 deg/s, posRepo size: 4
2021-08-13T00:00:31.489Z,1628812831.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 14.307009 deg,
      approachRate: -0.707647 m/s,
      LOS rate: -0.254157 deg/s,
      cmd update: -0.762472 deg/s,
      cmd heading: 15.464775 deg,
      new cmd heading: 15.624129 deg.

2021-08-13T00:00:33.897Z,1628812833.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:34.253Z,1628812834.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:34.253Z,1628812834.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:34.253Z,1628812834.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:34.254Z,1628812834.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:34.657Z,1628812834.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00720,183,80,80,C0,FF
2021-08-13T00:00:34.658Z,1628812834.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:34.658Z,1628812834.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:34.659Z,1628812834.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:35.057Z,1628812835.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:35.458Z,1628812835.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,006F6,184,80,80,A6,FF
2021-08-13T00:00:35.459Z,1628812835.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:35.901Z,1628812835.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000036.19*53

2021-08-13T00:00:35.973Z,1628812835.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 15.284671 deg, deltaT: 4.366653 s, approachRate: -0.577099 m/s, LOS rate: 0.223893 deg/s, posRepo size: 4
2021-08-13T00:00:35.975Z,1628812835.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.420006 m,
      bearing: 15.284671 deg,
      approachRate: -0.577099 m/s,
      LOS rate: 0.223893 deg/s,
      cmd update: 0.671678 deg/s,
      cmd heading: 12.126010 deg,
      new cmd heading: 11.751759 deg.

2021-08-13T00:00:38.341Z,1628812838.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:38.685Z,1628812838.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:38.685Z,1628812838.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:38.686Z,1628812838.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:38.687Z,1628812838.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:39.093Z,1628812839.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,006F6,184,80,80,A6,FF
2021-08-13T00:00:39.094Z,1628812839.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:39.094Z,1628812839.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:39.095Z,1628812839.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:39.510Z,1628812839.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:39.910Z,1628812839.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,006C2,185,80,80,74,FF
2021-08-13T00:00:39.910Z,1628812839.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:40.345Z,1628812840.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000040.62*5E

2021-08-13T00:00:40.387Z,1628812840.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 13.321239 deg, deltaT: 4.515661 s, approachRate: -0.690929 m/s, LOS rate: -0.434805 deg/s, posRepo size: 4
2021-08-13T00:00:40.397Z,1628812840.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.300003 m,
      bearing: 13.321239 deg,
      approachRate: -0.690929 m/s,
      LOS rate: -0.434805 deg/s,
      cmd update: -1.304415 deg/s,
      cmd heading: 15.158967 deg,
      new cmd heading: 15.424601 deg.

2021-08-13T00:00:42.751Z,1628812842.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:43.133Z,1628812843.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:43.133Z,1628812843.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:43.133Z,1628812843.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:43.134Z,1628812843.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:43.545Z,1628812843.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,006C2,185,80,80,74,FF
2021-08-13T00:00:43.546Z,1628812843.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:43.546Z,1628812843.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:43.548Z,1628812843.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:43.963Z,1628812843.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:44.345Z,1628812844.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00694,184,80,80,B3,FF
2021-08-13T00:00:44.346Z,1628812844.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:44.789Z,1628812844.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000045.07*58

2021-08-13T00:00:44.824Z,1628812844.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.540001 m, bearing: 14.434976 deg, deltaT: 4.375504 s, approachRate: -0.630785 m/s, LOS rate: 0.254539 deg/s, posRepo size: 4
2021-08-13T00:00:44.826Z,1628812844.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 14.434976 deg,
      approachRate: -0.630785 m/s,
      LOS rate: 0.254539 deg/s,
      cmd update: 0.763618 deg/s,
      cmd heading: 9.451230 deg,
      new cmd heading: 8.854966 deg.

2021-08-13T00:00:47.246Z,1628812847.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:47.586Z,1628812847.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:47.586Z,1628812847.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:47.587Z,1628812847.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:47.587Z,1628812847.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:48.009Z,1628812848.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00694,184,80,80,B3,FF
2021-08-13T00:00:48.009Z,1628812848.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:48.009Z,1628812848.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:48.011Z,1628812848.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:48.397Z,1628812848.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:48.803Z,1628812848.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00663,187,80,80,B1,FF
2021-08-13T00:00:48.804Z,1628812848.804 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:49.207Z,1628812849.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000049.54*52

2021-08-13T00:00:49.267Z,1628812849.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 15.362368 deg, deltaT: 4.453404 s, approachRate: -0.660170 m/s, LOS rate: 0.208243 deg/s, posRepo size: 4
2021-08-13T00:00:49.285Z,1628812849.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 15.362368 deg,
      approachRate: -0.660170 m/s,
      LOS rate: 0.208243 deg/s,
      cmd update: 0.624730 deg/s,
      cmd heading: 12.851917 deg,
      new cmd heading: 13.192990 deg.

2021-08-13T00:00:51.651Z,1628812851.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:52.033Z,1628812852.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:52.033Z,1628812852.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:52.034Z,1628812852.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:52.034Z,1628812852.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:52.448Z,1628812852.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00663,187,80,80,B1,FF
2021-08-13T00:00:52.448Z,1628812852.448 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:52.449Z,1628812852.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:52.450Z,1628812852.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:52.841Z,1628812852.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:53.242Z,1628812853.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00630,184,80,80,BD,FF
2021-08-13T00:00:53.242Z,1628812853.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:53.673Z,1628812853.673 [Micromodem](INFO): Nmea in: $SNTTA,0.123636,,,,000053.98*44

2021-08-13T00:00:53.692Z,1628812853.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 14.909774 deg, deltaT: 4.494014 s, approachRate: -0.680905 m/s, LOS rate: -0.100710 deg/s, posRepo size: 4
2021-08-13T00:00:53.694Z,1628812853.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.540001 m,
      bearing: 14.909774 deg,
      approachRate: -0.680905 m/s,
      LOS rate: -0.100710 deg/s,
      cmd update: -0.302131 deg/s,
      cmd heading: 15.656970 deg,
      new cmd heading: 15.895265 deg.

2021-08-13T00:00:56.110Z,1628812856.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:00:56.477Z,1628812856.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:00:56.477Z,1628812856.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:00:56.477Z,1628812856.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:00:56.478Z,1628812856.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:00:56.877Z,1628812856.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00630,184,80,80,BD,FF
2021-08-13T00:00:56.878Z,1628812856.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:00:56.878Z,1628812856.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:00:56.879Z,1628812856.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:00:57.281Z,1628812857.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:00:57.323Z,1628812857.323 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:00:57.681Z,1628812857.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,005FD,185,80,80,A8,FF
2021-08-13T00:00:57.681Z,1628812857.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:00:58.121Z,1628812858.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000058.41*56

2021-08-13T00:00:58.171Z,1628812858.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 14.818794 deg, deltaT: 4.384539 s, approachRate: -0.697907 m/s, LOS rate: -0.020750 deg/s, posRepo size: 4
2021-08-13T00:00:58.177Z,1628812858.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 14.818794 deg,
      approachRate: -0.697907 m/s,
      LOS rate: -0.020750 deg/s,
      cmd update: -0.062250 deg/s,
      cmd heading: 14.331056 deg,
      new cmd heading: 14.188383 deg.

2021-08-13T00:01:00.559Z,1628812860.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:00.945Z,1628812860.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:00.946Z,1628812860.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:00.947Z,1628812860.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:00.948Z,1628812860.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:01.329Z,1628812861.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,005FD,185,80,80,A8,FF
2021-08-13T00:01:01.329Z,1628812861.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:01.330Z,1628812861.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:01.331Z,1628812861.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:01.729Z,1628812861.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:02.145Z,1628812862.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,005CE,184,80,80,BA,FF
2021-08-13T00:01:02.146Z,1628812862.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:02.565Z,1628812862.565 [Micromodem](INFO): Nmea in: $SNTTA,0.051080,,,,000102.86*41

2021-08-13T00:01:02.599Z,1628812862.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 16.241251 deg, deltaT: 4.514196 s, approachRate: -0.624695 m/s, LOS rate: 0.315107 deg/s, posRepo size: 4
2021-08-13T00:01:02.602Z,1628812862.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 16.241251 deg,
      approachRate: -0.624695 m/s,
      LOS rate: 0.315107 deg/s,
      cmd update: 0.945322 deg/s,
      cmd heading: 14.050755 deg,
      new cmd heading: 14.026002 deg.

2021-08-13T00:01:03.020Z,1628812863.020 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:01:05.056Z,1628812865.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:05.374Z,1628812865.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:05.374Z,1628812865.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:05.374Z,1628812865.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:05.375Z,1628812865.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:05.765Z,1628812865.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,005CE,184,80,80,BA,FF
2021-08-13T00:01:05.765Z,1628812865.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:05.765Z,1628812865.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:05.767Z,1628812865.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:06.254Z,1628812866.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:06.637Z,1628812866.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,0059E,183,80,80,AC,FF
2021-08-13T00:01:06.637Z,1628812866.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:07.061Z,1628812867.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000107.29*53

2021-08-13T00:01:07.121Z,1628812867.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 15.954202 deg, deltaT: 4.462467 s, approachRate: -0.645385 m/s, LOS rate: -0.064325 deg/s, posRepo size: 4
2021-08-13T00:01:07.123Z,1628812867.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.779995 m,
      bearing: 15.954202 deg,
      approachRate: -0.645385 m/s,
      LOS rate: -0.064325 deg/s,
      cmd update: -0.192975 deg/s,
      cmd heading: 18.260296 deg,
      new cmd heading: 18.701501 deg.

2021-08-13T00:01:09.506Z,1628812869.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:09.874Z,1628812869.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:09.874Z,1628812869.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:09.874Z,1628812869.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:09.875Z,1628812869.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:10.277Z,1628812870.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,0059E,183,80,80,AC,FF
2021-08-13T00:01:10.277Z,1628812870.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:10.277Z,1628812870.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:10.279Z,1628812870.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:10.677Z,1628812870.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:11.085Z,1628812871.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00570,183,80,80,AB,FF
2021-08-13T00:01:11.085Z,1628812871.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:11.521Z,1628812871.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000111.80*57

2021-08-13T00:01:11.553Z,1628812871.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 16.049187 deg, deltaT: 4.507685 s, approachRate: -0.612287 m/s, LOS rate: 0.021072 deg/s, posRepo size: 4
2021-08-13T00:01:11.555Z,1628812871.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 16.049187 deg,
      approachRate: -0.612287 m/s,
      LOS rate: 0.021072 deg/s,
      cmd update: 0.063216 deg/s,
      cmd heading: 17.387203 deg,
      new cmd heading: 17.315121 deg.

2021-08-13T00:01:13.974Z,1628812873.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:14.318Z,1628812874.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:14.318Z,1628812874.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:14.318Z,1628812874.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:14.319Z,1628812874.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:14.725Z,1628812874.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00570,183,80,80,AB,FF
2021-08-13T00:01:14.725Z,1628812874.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:14.725Z,1628812874.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:14.727Z,1628812874.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:15.138Z,1628812875.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:15.529Z,1628812875.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0053D,183,80,80,AD,FF
2021-08-13T00:01:15.530Z,1628812875.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:15.985Z,1628812875.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000116.25*5F

2021-08-13T00:01:16.022Z,1628812876.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 15.705622 deg, deltaT: 4.392903 s, approachRate: -0.696578 m/s, LOS rate: -0.078209 deg/s, posRepo size: 4
2021-08-13T00:01:16.024Z,1628812876.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 15.705622 deg,
      approachRate: -0.696578 m/s,
      LOS rate: -0.078209 deg/s,
      cmd update: -0.234628 deg/s,
      cmd heading: 17.664910 deg,
      new cmd heading: 17.693359 deg.

2021-08-13T00:01:18.381Z,1628812878.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:18.767Z,1628812878.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:18.767Z,1628812878.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:18.767Z,1628812878.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:18.769Z,1628812878.769 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:19.158Z,1628812879.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0053D,183,80,80,AD,FF
2021-08-13T00:01:19.158Z,1628812879.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:19.158Z,1628812879.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:19.161Z,1628812879.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:19.569Z,1628812879.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:19.978Z,1628812879.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00513,182,80,80,8A,FF
2021-08-13T00:01:19.978Z,1628812879.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:20.405Z,1628812880.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000120.69*52

2021-08-13T00:01:20.428Z,1628812880.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 16.265675 deg, deltaT: 4.470682 s, approachRate: -0.563672 m/s, LOS rate: 0.125272 deg/s, posRepo size: 4
2021-08-13T00:01:20.430Z,1628812880.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.439999 m,
      bearing: 16.265675 deg,
      approachRate: -0.563672 m/s,
      LOS rate: 0.125272 deg/s,
      cmd update: 0.375817 deg/s,
      cmd heading: 16.615953 deg,
      new cmd heading: 16.525649 deg.

2021-08-13T00:01:22.831Z,1628812882.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:23.205Z,1628812883.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:23.205Z,1628812883.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:23.205Z,1628812883.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:23.206Z,1628812883.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:23.605Z,1628812883.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00513,182,80,80,8A,FF
2021-08-13T00:01:23.606Z,1628812883.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:23.606Z,1628812883.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:23.608Z,1628812883.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:24.032Z,1628812884.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:24.406Z,1628812884.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,004DE,183,80,80,A6,FF
2021-08-13T00:01:24.406Z,1628812884.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:24.855Z,1628812884.855 [Micromodem](INFO): Nmea in: $SNTTA,0.048216,,,,000125.13*4D

2021-08-13T00:01:24.975Z,1628812884.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 16.308284 deg, deltaT: 4.401320 s, approachRate: -0.722511 m/s, LOS rate: 0.009681 deg/s, posRepo size: 4
2021-08-13T00:01:24.975Z,1628812884.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.26 m.
2021-08-13T00:01:24.987Z,1628812884.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 16.308284 deg,
      approachRate: -0.722511 m/s,
      LOS rate: 0.009681 deg/s,
      cmd update: 0.029042 deg/s,
      cmd heading: 18.271529 deg,
      new cmd heading: 18.469444 deg.

2021-08-13T00:01:25.258Z,1628812885.258 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:01:25.338Z,1628812885.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:01:25.338Z,1628812885.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:01:25.338Z,1628812885.338 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:01:25.339Z,1628812885.339 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:01:25.339Z,1628812885.339 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:01:25.339Z,1628812885.339 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:01:25.707Z,1628812885.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:01:25.707Z,1628812885.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:01:25.707Z,1628812885.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:01:25.707Z,1628812885.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:01:26.986Z,1628812886.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:27.322Z,1628812887.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:27.322Z,1628812887.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:27.323Z,1628812887.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:27.323Z,1628812887.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:27.641Z,1628812887.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,004DE,183,80,80,A6,FF
2021-08-13T00:01:27.641Z,1628812887.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:27.641Z,1628812887.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:27.643Z,1628812887.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:28.060Z,1628812888.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:28.449Z,1628812888.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,004B0,183,80,80,9F,FF
2021-08-13T00:01:28.450Z,1628812888.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:28.470Z,1628812888.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:28.909Z,1628812888.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000129.17*52

2021-08-13T00:01:28.997Z,1628812888.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 12.770281 deg, deltaT: 4.019434 s, approachRate: -0.686663 m/s, LOS rate: -0.880224 deg/s, posRepo size: 4
2021-08-13T00:01:28.998Z,1628812888.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m.
2021-08-13T00:01:29.004Z,1628812889.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.500000 m,
      bearing: 12.770281 deg,
      approachRate: -0.686663 m/s,
      LOS rate: -0.880224 deg/s,
      cmd update: -2.640673 deg/s,
      cmd heading: 18.388247 deg,
      new cmd heading: 18.403506 deg.

2021-08-13T00:01:30.990Z,1628812890.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:31.285Z,1628812891.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:31.285Z,1628812891.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:31.285Z,1628812891.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:31.286Z,1628812891.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:31.681Z,1628812891.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,004B0,183,80,80,9F,FF
2021-08-13T00:01:31.681Z,1628812891.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:31.681Z,1628812891.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:31.683Z,1628812891.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:32.097Z,1628812892.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:32.504Z,1628812892.504 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00485,184,80,80,9D,FF
2021-08-13T00:01:32.505Z,1628812892.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:32.528Z,1628812892.528 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:32.961Z,1628812892.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000133.21*5C

2021-08-13T00:01:33.060Z,1628812893.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 11.864459 deg, deltaT: 4.058253 s, approachRate: -0.635742 m/s, LOS rate: -0.223205 deg/s, posRepo size: 4
2021-08-13T00:01:33.060Z,1628812893.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.92 m.
2021-08-13T00:01:33.062Z,1628812893.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.920000 m,
      bearing: 11.864459 deg,
      approachRate: -0.635742 m/s,
      LOS rate: -0.223205 deg/s,
      cmd update: -0.669615 deg/s,
      cmd heading: 7.672350 deg,
      new cmd heading: 6.260142 deg.

2021-08-13T00:01:35.049Z,1628812895.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:35.329Z,1628812895.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:35.329Z,1628812895.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:35.329Z,1628812895.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:35.330Z,1628812895.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:35.721Z,1628812895.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00485,184,80,80,9D,FF
2021-08-13T00:01:35.721Z,1628812895.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:35.721Z,1628812895.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:35.723Z,1628812895.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:36.134Z,1628812896.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:36.529Z,1628812896.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,0045D,186,80,80,90,FF
2021-08-13T00:01:36.529Z,1628812896.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:36.604Z,1628812896.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:37.021Z,1628812897.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000137.25*5C

2021-08-13T00:01:37.136Z,1628812897.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 13.839924 deg, deltaT: 4.075755 s, approachRate: -0.588848 m/s, LOS rate: 0.484687 deg/s, posRepo size: 4
2021-08-13T00:01:37.137Z,1628812897.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.52 m.
2021-08-13T00:01:37.139Z,1628812897.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 13.839924 deg,
      approachRate: -0.588848 m/s,
      LOS rate: 0.484687 deg/s,
      cmd update: 1.454061 deg/s,
      cmd heading: 4.948547 deg,
      new cmd heading: 4.587369 deg.

2021-08-13T00:01:39.119Z,1628812899.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:39.417Z,1628812899.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:39.417Z,1628812899.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:39.418Z,1628812899.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:39.419Z,1628812899.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:39.817Z,1628812899.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,0045D,186,80,80,90,FF
2021-08-13T00:01:39.817Z,1628812899.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:39.817Z,1628812899.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:39.819Z,1628812899.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:40.221Z,1628812900.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:40.634Z,1628812900.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00432,186,80,80,7C,FF
2021-08-13T00:01:40.634Z,1628812900.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:40.659Z,1628812900.659 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:41.061Z,1628812901.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000141.35*5C

2021-08-13T00:01:41.165Z,1628812901.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 11.693711 deg, deltaT: 4.055225 s, approachRate: -0.636216 m/s, LOS rate: -0.529246 deg/s, posRepo size: 4
2021-08-13T00:01:41.167Z,1628812901.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.94 m.
2021-08-13T00:01:41.167Z,1628812901.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.94 m.
2021-08-13T00:01:41.172Z,1628812901.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:01:41.174Z,1628812901.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.939999 m,
      bearing: 11.693711 deg,
      approachRate: -0.636216 m/s,
      LOS rate: -0.529246 deg/s,
      cmd update: -1.587739 deg/s,
      cmd heading: 10.857115 deg,
      new cmd heading: 11.584476 deg.

2021-08-13T00:01:43.477Z,1628812903.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:43.865Z,1628812903.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:43.866Z,1628812903.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:43.866Z,1628812903.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:43.867Z,1628812903.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:44.265Z,1628812904.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00432,186,80,80,7C,FF
2021-08-13T00:01:44.265Z,1628812904.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:44.265Z,1628812904.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:44.267Z,1628812904.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:44.672Z,1628812904.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:45.065Z,1628812905.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00405,185,80,80,B6,FF
2021-08-13T00:01:45.065Z,1628812905.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:45.158Z,1628812905.158 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:45.513Z,1628812905.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000145.79*50

2021-08-13T00:01:45.539Z,1628812905.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 12.774647 deg, deltaT: 4.498727 s, approachRate: -0.600170 m/s, LOS rate: 0.240276 deg/s, posRepo size: 4
2021-08-13T00:01:45.541Z,1628812905.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.239998 m,
      bearing: 12.774647 deg,
      approachRate: -0.600170 m/s,
      LOS rate: 0.240276 deg/s,
      cmd update: 0.720828 deg/s,
      cmd heading: 3.720166 deg,
      new cmd heading: 3.104163 deg.

2021-08-13T00:01:47.925Z,1628812907.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:48.297Z,1628812908.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:48.297Z,1628812908.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:48.297Z,1628812908.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:48.298Z,1628812908.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:48.701Z,1628812908.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00405,185,80,80,B6,FF
2021-08-13T00:01:48.701Z,1628812908.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:48.701Z,1628812908.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:48.703Z,1628812908.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:49.117Z,1628812909.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:49.510Z,1628812909.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,003DB,186,80,80,A9,FF
2021-08-13T00:01:49.510Z,1628812909.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:49.558Z,1628812909.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:49.977Z,1628812909.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000150.23*5B

2021-08-13T00:01:50.015Z,1628812910.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 18.822094 deg, deltaT: 4.399714 s, approachRate: -0.572764 m/s, LOS rate: 1.374509 deg/s, posRepo size: 4
2021-08-13T00:01:50.017Z,1628812910.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 18.822094 deg,
      approachRate: -0.572764 m/s,
      LOS rate: 1.374509 deg/s,
      cmd update: 4.123527 deg/s,
      cmd heading: 6.894335 deg,
      new cmd heading: 7.226254 deg.

2021-08-13T00:01:52.371Z,1628812912.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:52.741Z,1628812912.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:52.741Z,1628812912.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:52.741Z,1628812912.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:52.742Z,1628812912.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:53.153Z,1628812913.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,003DB,186,80,80,A9,FF
2021-08-13T00:01:53.153Z,1628812913.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:53.153Z,1628812913.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:53.155Z,1628812913.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:53.558Z,1628812913.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:53.971Z,1628812913.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,003AD,186,80,80,BB,FF
2021-08-13T00:01:53.971Z,1628812913.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:54.026Z,1628812914.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:54.401Z,1628812914.401 [Micromodem](INFO): Nmea in: $SNTTA,0.040850,,,,000154.68*47

2021-08-13T00:01:54.424Z,1628812914.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 15.795251 deg, deltaT: 4.468480 s, approachRate: -0.617660 m/s, LOS rate: -0.677376 deg/s, posRepo size: 4
2021-08-13T00:01:54.426Z,1628812914.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 15.795251 deg,
      approachRate: -0.617660 m/s,
      LOS rate: -0.677376 deg/s,
      cmd update: -2.032129 deg/s,
      cmd heading: 25.304359 deg,
      new cmd heading: 26.971386 deg.

2021-08-13T00:01:56.803Z,1628812916.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:01:57.197Z,1628812917.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:01:57.197Z,1628812917.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:01:57.198Z,1628812917.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:01:57.198Z,1628812917.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:01:57.598Z,1628812917.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,003AD,186,80,80,BB,FF
2021-08-13T00:01:57.598Z,1628812917.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:01:57.598Z,1628812917.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:01:57.600Z,1628812917.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:01:58.017Z,1628812918.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:01:58.403Z,1628812918.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0038B,185,80,80,B8,FF
2021-08-13T00:01:58.403Z,1628812918.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:01:58.424Z,1628812918.424 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:01:58.874Z,1628812918.874 [Micromodem](INFO): Nmea in: $SNTTA,0.040798,,,,000159.12*4C

2021-08-13T00:01:58.973Z,1628812918.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 17.223037 deg, deltaT: 4.397632 s, approachRate: -0.463887 m/s, LOS rate: 0.324672 deg/s, posRepo size: 4
2021-08-13T00:01:58.975Z,1628812918.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.919998 m,
      bearing: 17.223037 deg,
      approachRate: -0.463887 m/s,
      LOS rate: 0.324672 deg/s,
      cmd update: 0.974015 deg/s,
      cmd heading: 16.361001 deg,
      new cmd heading: 15.245781 deg.

2021-08-13T00:02:01.256Z,1628812921.256 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:02:01.300Z,1628812921.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:01.639Z,1628812921.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:01.639Z,1628812921.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:01.639Z,1628812921.639 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:01.640Z,1628812921.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:02.033Z,1628812922.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0038B,185,80,80,B8,FF
2021-08-13T00:02:02.033Z,1628812922.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:02.033Z,1628812922.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:02.035Z,1628812922.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:02.449Z,1628812922.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:02.846Z,1628812922.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00362,186,80,80,89,FF
2021-08-13T00:02:02.847Z,1628812922.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:02.963Z,1628812922.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:03.353Z,1628812923.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 18.430736 deg, deltaT: 4.544264 s, approachRate: -0.541342 m/s, LOS rate: 0.265763 deg/s, posRepo size: 4
2021-08-13T00:02:03.355Z,1628812923.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 18.430736 deg,
      approachRate: -0.541342 m/s,
      LOS rate: 0.265763 deg/s,
      cmd update: 0.797290 deg/s,
      cmd heading: 20.734448 deg,
      new cmd heading: 21.161430 deg.

2021-08-13T00:02:05.726Z,1628812925.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:06.073Z,1628812926.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:06.073Z,1628812926.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:06.073Z,1628812926.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:06.074Z,1628812926.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:06.481Z,1628812926.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00362,186,80,80,89,FF
2021-08-13T00:02:06.481Z,1628812926.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:06.481Z,1628812926.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:06.483Z,1628812926.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:06.933Z,1628812926.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:07.297Z,1628812927.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF2,000,0032A,183,80,80,62,FF
2021-08-13T00:02:07.297Z,1628812927.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:07.361Z,1628812927.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:07.735Z,1628812927.735 [Micromodem](INFO): Nmea in: $SNTTA,0.007216,,,,000208.01*49

2021-08-13T00:02:07.768Z,1628812927.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 19.485403 deg, deltaT: 4.392488 s, approachRate: -0.764942 m/s, LOS rate: 0.240107 deg/s, posRepo size: 4
2021-08-13T00:02:07.770Z,1628812927.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.100000 m,
      bearing: 19.485403 deg,
      approachRate: -0.764942 m/s,
      LOS rate: 0.240107 deg/s,
      cmd update: 0.720321 deg/s,
      cmd heading: 24.273551 deg,
      new cmd heading: 24.604022 deg.

2021-08-13T00:02:10.161Z,1628812930.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:10.521Z,1628812930.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:10.521Z,1628812930.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:10.521Z,1628812930.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:10.522Z,1628812930.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:10.960Z,1628812930.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF2,000,0032A,183,80,80,62,FF
2021-08-13T00:02:10.961Z,1628812930.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:10.961Z,1628812930.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:10.967Z,1628812930.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:11.341Z,1628812931.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:11.737Z,1628812931.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00304,187,80,80,B7,FF
2021-08-13T00:02:11.738Z,1628812931.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:11.775Z,1628812931.775 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:12.177Z,1628812932.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000212.49*52

2021-08-13T00:02:12.225Z,1628812932.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 15.570092 deg, deltaT: 4.414184 s, approachRate: -0.516517 m/s, LOS rate: -0.886984 deg/s, posRepo size: 4
2021-08-13T00:02:12.227Z,1628812932.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 15.570092 deg,
      approachRate: -0.516517 m/s,
      LOS rate: -0.886984 deg/s,
      cmd update: -2.660952 deg/s,
      cmd heading: 27.456279 deg,
      new cmd heading: 27.782831 deg.

2021-08-13T00:02:14.590Z,1628812934.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:14.993Z,1628812934.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:14.993Z,1628812934.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:14.993Z,1628812934.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:14.994Z,1628812934.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:15.373Z,1628812935.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00304,187,80,80,B7,FF
2021-08-13T00:02:15.373Z,1628812935.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:15.373Z,1628812935.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:15.375Z,1628812935.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:15.785Z,1628812935.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:16.182Z,1628812936.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,002DF,186,80,80,AE,FF
2021-08-13T00:02:16.182Z,1628812936.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:16.202Z,1628812936.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:16.617Z,1628812936.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000216.90*52

2021-08-13T00:02:16.648Z,1628812936.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 14.799147 deg, deltaT: 4.427514 s, approachRate: -0.501410 m/s, LOS rate: -0.174126 deg/s, posRepo size: 4
2021-08-13T00:02:16.653Z,1628812936.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 14.799147 deg,
      approachRate: -0.501410 m/s,
      LOS rate: -0.174126 deg/s,
      cmd update: -0.522378 deg/s,
      cmd heading: 15.663890 deg,
      new cmd heading: 14.470804 deg.

2021-08-13T00:02:19.070Z,1628812939.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:19.417Z,1628812939.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:19.417Z,1628812939.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:19.417Z,1628812939.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:19.418Z,1628812939.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:19.829Z,1628812939.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,002DF,186,80,80,AE,FF
2021-08-13T00:02:19.829Z,1628812939.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:19.829Z,1628812939.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:19.830Z,1628812939.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:20.228Z,1628812940.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:20.629Z,1628812940.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,002C8,184,80,80,87,FF
2021-08-13T00:02:20.629Z,1628812940.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:20.650Z,1628812940.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:21.061Z,1628812941.061 [Micromodem](INFO): Nmea in: $SNTTA,0.006681,,,,000221.35*4E

2021-08-13T00:02:21.109Z,1628812941.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 17.957284 deg, deltaT: 4.447871 s, approachRate: -0.310261 m/s, LOS rate: 0.710034 deg/s, posRepo size: 4
2021-08-13T00:02:21.111Z,1628812941.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 17.957284 deg,
      approachRate: -0.310261 m/s,
      LOS rate: 0.710034 deg/s,
      cmd update: 2.130101 deg/s,
      cmd heading: 13.340427 deg,
      new cmd heading: 13.099373 deg.

2021-08-13T00:02:23.483Z,1628812943.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:23.877Z,1628812943.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:23.877Z,1628812943.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:23.877Z,1628812943.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:23.878Z,1628812943.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:24.269Z,1628812944.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,002C8,184,80,80,87,FF
2021-08-13T00:02:24.270Z,1628812944.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:24.270Z,1628812944.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:24.273Z,1628812944.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:24.690Z,1628812944.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:25.070Z,1628812945.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,002BD,185,80,80,8F,FF
2021-08-13T00:02:25.071Z,1628812945.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:25.148Z,1628812945.148 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:25.497Z,1628812945.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000225.80*53

2021-08-13T00:02:25.517Z,1628812945.517 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T00:02:25.518Z,1628812945.518 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:02:25.518Z,1628812945.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T00:02:25.518Z,1628812945.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:02:25.518Z,1628812945.518 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T00:02:25.519Z,1628812945.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-08-13T00:02:25.519Z,1628812945.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T00:02:25.519Z,1628812945.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T00:02:25.519Z,1628812945.519 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T00:02:25.522Z,1628812945.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 14.515537 deg, deltaT: 4.497908 s, approachRate: -0.146735 m/s, LOS rate: -0.765189 deg/s, posRepo size: 4
2021-08-13T00:02:25.544Z,1628812945.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 14.515537 deg,
      approachRate: -0.146735 m/s,
      LOS rate: -0.765189 deg/s,
      cmd update: -2.295566 deg/s,
      cmd heading: 22.903422 deg,
      new cmd heading: 23.723790 deg.

2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T000225: (41.552319, -70.708603)
2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T00:02:25.931Z,1628812945.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:02:25.932Z,1628812945.932 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T00:02:25.932Z,1628812945.932 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T00:02:25.932Z,1628812945.932 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:02:26.321Z,1628812946.321 [UniversalFixResidualReporter](INFO): Fix residual: 26.3 %DT, over the last 670.6 m. Residual distance 176.4 m at bearing 63.5 degrees. Fix at (41.5540, -70.7048) with 366.6 m made good.
2021-08-13T00:02:27.958Z,1628812947.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:28.305Z,1628812948.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:28.305Z,1628812948.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:28.306Z,1628812948.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:28.307Z,1628812948.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:28.705Z,1628812948.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,002BD,185,80,80,8F,FF
2021-08-13T00:02:28.706Z,1628812948.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:28.706Z,1628812948.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:28.707Z,1628812948.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:29.131Z,1628812949.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:29.509Z,1628812949.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,002CE,184,80,80,B9,FF
2021-08-13T00:02:29.509Z,1628812949.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:29.561Z,1628812949.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:29.958Z,1628812949.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000230.23*5E

2021-08-13T00:02:30.001Z,1628812950.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 21.900057 deg, deltaT: 4.413053 s, approachRate: 0.231133 m/s, LOS rate: 1.673336 deg/s, posRepo size: 4
2021-08-13T00:02:30.003Z,1628812950.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 21.900057 deg,
      approachRate: 0.231133 m/s,
      LOS rate: 1.673336 deg/s,
      cmd update: 5.020008 deg/s,
      cmd heading: 12.762755 deg,
      new cmd heading: 11.775432 deg.

2021-08-13T00:02:32.395Z,1628812952.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:32.745Z,1628812952.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:32.745Z,1628812952.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:32.745Z,1628812952.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:32.746Z,1628812952.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:33.153Z,1628812953.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,002CE,184,80,80,B9,FF
2021-08-13T00:02:33.153Z,1628812953.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:33.153Z,1628812953.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:33.155Z,1628812953.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:33.549Z,1628812953.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:33.954Z,1628812953.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,002F9,186,80,80,59,FF
2021-08-13T00:02:33.954Z,1628812953.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:33.978Z,1628812953.978 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:34.393Z,1628812954.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000234.68*55

2021-08-13T00:02:34.435Z,1628812954.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 27.527841 deg, deltaT: 4.417155 s, approachRate: 0.584086 m/s, LOS rate: 1.274074 deg/s, posRepo size: 4
2021-08-13T00:02:34.437Z,1628812954.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 27.527841 deg,
      approachRate: 0.584086 m/s,
      LOS rate: 1.274074 deg/s,
      cmd update: 3.822223 deg/s,
      cmd heading: 34.956853 deg,
      new cmd heading: 37.265886 deg.

2021-08-13T00:02:36.831Z,1628812956.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:37.193Z,1628812957.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:37.193Z,1628812957.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:37.193Z,1628812957.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:37.194Z,1628812957.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:37.604Z,1628812957.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,002F9,186,80,80,59,FF
2021-08-13T00:02:37.605Z,1628812957.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:37.605Z,1628812957.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:37.615Z,1628812957.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:38.005Z,1628812958.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:38.401Z,1628812958.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0032C,187,80,80,6B,FF
2021-08-13T00:02:38.402Z,1628812958.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:38.427Z,1628812958.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:38.863Z,1628812958.863 [Micromodem](INFO): Nmea in: $SNTTA,0.021196,,,,000239.14*40

2021-08-13T00:02:38.972Z,1628812958.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 36.914434 deg, deltaT: 4.448121 s, approachRate: 0.687931 m/s, LOS rate: 2.110238 deg/s, posRepo size: 4
2021-08-13T00:02:38.974Z,1628812958.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 36.914434 deg,
      approachRate: 0.687931 m/s,
      LOS rate: 2.110238 deg/s,
      cmd update: 6.330713 deg/s,
      cmd heading: 51.958658 deg,
      new cmd heading: 54.053982 deg.

2021-08-13T00:02:40.964Z,1628812960.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:41.229Z,1628812961.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:41.229Z,1628812961.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:41.229Z,1628812961.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:41.230Z,1628812961.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:41.636Z,1628812961.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0032C,187,80,80,6B,FF
2021-08-13T00:02:41.636Z,1628812961.636 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:41.636Z,1628812961.636 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:41.638Z,1628812961.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:42.063Z,1628812962.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:42.438Z,1628812962.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0C,000,00353,187,80,80,5B,FF
2021-08-13T00:02:42.438Z,1628812962.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:42.458Z,1628812962.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:42.904Z,1628812962.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000243.16*5C

2021-08-13T00:02:42.995Z,1628812962.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 62.312355 deg, deltaT: 4.031106 s, approachRate: 0.580485 m/s, LOS rate: 6.300485 deg/s, posRepo size: 4
2021-08-13T00:02:43.002Z,1628812963.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.56 m. Rolling out.
2021-08-13T00:02:43.002Z,1628812963.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:02:44.964Z,1628812964.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:45.288Z,1628812965.288 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:45.289Z,1628812965.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:45.289Z,1628812965.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:45.290Z,1628812965.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:45.673Z,1628812965.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0C,000,00353,187,80,80,5B,FF
2021-08-13T00:02:45.673Z,1628812965.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:45.673Z,1628812965.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:45.675Z,1628812965.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:46.081Z,1628812966.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:46.481Z,1628812966.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF2,000,00375,184,80,80,61,FF
2021-08-13T00:02:46.482Z,1628812966.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:46.534Z,1628812966.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:46.940Z,1628812966.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000247.20*5D

2021-08-13T00:02:47.021Z,1628812967.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 51.780180 deg, deltaT: 4.076578 s, approachRate: 0.500419 m/s, LOS rate: -2.583582 deg/s, posRepo size: 4
2021-08-13T00:02:49.062Z,1628812969.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:49.317Z,1628812969.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:49.317Z,1628812969.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:49.317Z,1628812969.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:49.318Z,1628812969.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:49.713Z,1628812969.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF2,000,00375,184,80,80,61,FF
2021-08-13T00:02:49.713Z,1628812969.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:49.713Z,1628812969.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:49.715Z,1628812969.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:50.125Z,1628812970.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:50.525Z,1628812970.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00395,185,80,80,64,FF
2021-08-13T00:02:50.525Z,1628812970.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:02:50.546Z,1628812970.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:02:51.001Z,1628812971.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000251.24*5E

2021-08-13T00:02:51.050Z,1628812971.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 89.019850 deg, deltaT: 4.011756 s, approachRate: 0.478594 m/s, LOS rate: 9.282636 deg/s, posRepo size: 4
2021-08-13T00:02:53.384Z,1628812973.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:53.753Z,1628812973.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:53.753Z,1628812973.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:53.753Z,1628812973.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:53.754Z,1628812973.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:54.158Z,1628812974.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00395,185,80,80,64,FF
2021-08-13T00:02:54.158Z,1628812974.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:54.158Z,1628812974.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:54.160Z,1628812974.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:02:54.561Z,1628812974.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:02:55.376Z,1628812975.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000255.69*53

2021-08-13T00:02:56.195Z,1628812976.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:57.824Z,1628812977.824 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,64,FF
2021-08-13T00:02:57.825Z,1628812977.825 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,64,FF
2021-08-13T00:02:57.825Z,1628812977.825 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:02:59.104Z,1628812979.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:02:59.409Z,1628812979.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:02:59.409Z,1628812979.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:02:59.409Z,1628812979.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:02:59.410Z,1628812979.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:02:59.419Z,1628812979.419 [PowerOnly](INFO): Powering down loadControl
2021-08-13T00:02:59.816Z,1628812979.816 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,64,FF
2021-08-13T00:02:59.816Z,1628812979.816 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:02:59.816Z,1628812979.816 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:02:59.818Z,1628812979.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:00.220Z,1628812980.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:00.621Z,1628812980.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003CF,187,80,80,88,FF
2021-08-13T00:03:00.622Z,1628812980.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:00.686Z,1628812980.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:01.061Z,1628812981.061 [Micromodem](INFO): Nmea in: $SNTTA,,0.485317,,,000301.34*49

2021-08-13T00:03:01.117Z,1628812981.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 88.885630 deg, deltaT: 10.139928 s, approachRate: 0.343197 m/s, LOS rate: -0.013237 deg/s, posRepo size: 4
2021-08-13T00:03:03.466Z,1628812983.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:03.866Z,1628812983.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:03.866Z,1628812983.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:03.866Z,1628812983.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:03.867Z,1628812983.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:04.262Z,1628812984.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003CF,187,80,80,88,FF
2021-08-13T00:03:04.262Z,1628812984.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:04.262Z,1628812984.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:04.264Z,1628812984.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:04.680Z,1628812984.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:05.498Z,1628812985.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000305.79*56

2021-08-13T00:03:06.321Z,1628812986.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:07.901Z,1628812987.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,88,FF
2021-08-13T00:03:07.902Z,1628812987.902 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,88,FF
2021-08-13T00:03:07.902Z,1628812987.902 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:03:09.185Z,1628812989.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:09.505Z,1628812989.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:09.505Z,1628812989.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:09.505Z,1628812989.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:09.506Z,1628812989.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:09.917Z,1628812989.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,88,FF
2021-08-13T00:03:09.917Z,1628812989.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:09.917Z,1628812989.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:09.919Z,1628812989.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:10.313Z,1628812990.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:10.717Z,1628812990.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDE,000,00428,186,80,80,96,FF
2021-08-13T00:03:10.718Z,1628812990.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:10.737Z,1628812990.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:11.170Z,1628812991.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000311.44*5D

2021-08-13T00:03:11.235Z,1628812991.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 91.564491 deg, deltaT: 10.051369 s, approachRate: 0.531271 m/s, LOS rate: 0.266517 deg/s, posRepo size: 4
2021-08-13T00:03:13.563Z,1628812993.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:13.961Z,1628812993.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:13.961Z,1628812993.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:13.961Z,1628812993.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:13.962Z,1628812993.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:14.359Z,1628812994.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDE,000,00428,186,80,80,96,FF
2021-08-13T00:03:14.359Z,1628812994.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:14.359Z,1628812994.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:14.361Z,1628812994.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:14.788Z,1628812994.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:15.173Z,1628812995.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00452,186,80,80,66,FF
2021-08-13T00:03:15.173Z,1628812995.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:15.177Z,1628812995.177 [Micromodem](INFO): Nmea in: $SNTTA,0.041261,0.175303,,,000315.89*5B

2021-08-13T00:03:15.268Z,1628812995.268 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:15.607Z,1628812995.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 91.208980 deg, deltaT: 4.531167 s, approachRate: 0.556149 m/s, LOS rate: -0.078459 deg/s, posRepo size: 4
2021-08-13T00:03:18.054Z,1628812998.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:18.397Z,1628812998.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:18.397Z,1628812998.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:18.397Z,1628812998.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:18.398Z,1628812998.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:18.805Z,1628812998.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00452,186,80,80,66,FF
2021-08-13T00:03:18.805Z,1628812998.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:18.805Z,1628812998.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:18.807Z,1628812998.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:19.204Z,1628812999.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:19.621Z,1628812999.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0047B,186,80,80,54,FF
2021-08-13T00:03:19.621Z,1628812999.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:19.665Z,1628812999.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:20.048Z,1628813000.048 [Micromodem](INFO): Nmea in: $SNTTA,0.065022,,,,000320.33*42

2021-08-13T00:03:20.090Z,1628813000.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 87.729026 deg, deltaT: 4.396738 s, approachRate: 0.559506 m/s, LOS rate: -0.791485 deg/s, posRepo size: 4
2021-08-13T00:03:22.472Z,1628813002.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:22.859Z,1628813002.859 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:22.860Z,1628813002.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:22.860Z,1628813002.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:22.861Z,1628813002.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:23.244Z,1628813003.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0047B,186,80,80,54,FF
2021-08-13T00:03:23.244Z,1628813003.244 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:23.244Z,1628813003.244 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:23.246Z,1628813003.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:23.661Z,1628813003.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:24.486Z,1628813004.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000324.77*5B

2021-08-13T00:03:25.334Z,1628813005.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:26.890Z,1628813006.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,54,FF
2021-08-13T00:03:26.890Z,1628813006.890 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,54,FF
2021-08-13T00:03:26.891Z,1628813006.891 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:03:27.326Z,1628813007.326 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:03:28.156Z,1628813008.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:28.495Z,1628813008.495 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:28.495Z,1628813008.495 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:28.495Z,1628813008.495 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:28.496Z,1628813008.496 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:28.977Z,1628813008.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,54,FF
2021-08-13T00:03:28.977Z,1628813008.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:28.977Z,1628813008.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:28.979Z,1628813008.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:29.396Z,1628813009.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:29.785Z,1628813009.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,004E4,187,80,80,6F,FF
2021-08-13T00:03:29.786Z,1628813009.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:29.837Z,1628813009.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:30.229Z,1628813010.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000330.50*5B

2021-08-13T00:03:30.283Z,1628813010.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 70.621683 deg, deltaT: 10.172397 s, approachRate: 0.619323 m/s, LOS rate: -1.681742 deg/s, posRepo size: 4
2021-08-13T00:03:32.646Z,1628813012.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:33.025Z,1628813013.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:33.025Z,1628813013.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:33.025Z,1628813013.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:33.026Z,1628813013.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:33.434Z,1628813013.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,004E4,187,80,80,6F,FF
2021-08-13T00:03:33.434Z,1628813013.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:33.434Z,1628813013.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:33.436Z,1628813013.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:33.833Z,1628813013.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:34.247Z,1628813014.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,0050D,189,80,80,96,FF
2021-08-13T00:03:34.247Z,1628813014.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:34.277Z,1628813014.277 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:03:34.669Z,1628813014.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000334.96*55

2021-08-13T00:03:34.691Z,1628813014.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 47.979139 deg, deltaT: 4.439731 s, approachRate: 0.554087 m/s, LOS rate: -5.099981 deg/s, posRepo size: 4
2021-08-13T00:03:35.159Z,1628813015.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:03:35.159Z,1628813015.159 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:03:35.161Z,1628813015.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:03:35.161Z,1628813015.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:03:35.161Z,1628813015.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:03:35.161Z,1628813015.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:03:35.465Z,1628813015.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:03:35.465Z,1628813015.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:03:35.465Z,1628813015.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:03:35.465Z,1628813015.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:03:37.151Z,1628813017.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:37.475Z,1628813017.475 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:37.475Z,1628813017.475 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:37.475Z,1628813017.475 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:37.477Z,1628813017.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:37.866Z,1628813017.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,0050D,189,80,80,96,FF
2021-08-13T00:03:37.866Z,1628813017.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:37.866Z,1628813017.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:37.869Z,1628813017.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:38.283Z,1628813018.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:38.673Z,1628813018.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00536,188,80,80,A7,FF
2021-08-13T00:03:38.673Z,1628813018.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:39.145Z,1628813019.145 [Micromodem](INFO): Nmea in: $SNTTA,0.461419,,,,000339.39*4C

2021-08-13T00:03:39.227Z,1628813019.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 47.271343 deg, deltaT: 4.490580 s, approachRate: 0.547813 m/s, LOS rate: -0.157618 deg/s, posRepo size: 4
2021-08-13T00:03:41.545Z,1628813021.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:41.913Z,1628813021.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:41.913Z,1628813021.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:41.913Z,1628813021.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:41.914Z,1628813021.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:42.319Z,1628813022.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00536,188,80,80,A7,FF
2021-08-13T00:03:42.319Z,1628813022.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:42.319Z,1628813022.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:42.323Z,1628813022.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:42.729Z,1628813022.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:43.155Z,1628813023.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,0056A,186,80,80,9C,FF
2021-08-13T00:03:43.155Z,1628813023.155 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:43.549Z,1628813023.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000343.85*57

2021-08-13T00:03:43.591Z,1628813023.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 95.819180 deg, deltaT: 4.502425 s, approachRate: 0.692960 m/s, LOS rate: 10.782598 deg/s, posRepo size: 4
2021-08-13T00:03:45.963Z,1628813025.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:46.354Z,1628813026.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:46.354Z,1628813026.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:46.354Z,1628813026.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:46.355Z,1628813026.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:46.759Z,1628813026.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,0056A,186,80,80,9C,FF
2021-08-13T00:03:46.759Z,1628813026.759 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:46.759Z,1628813026.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:46.761Z,1628813026.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:47.193Z,1628813027.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:47.569Z,1628813027.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,005A1,186,80,80,61,FF
2021-08-13T00:03:47.570Z,1628813027.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:48.001Z,1628813028.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000348.29*5A

2021-08-13T00:03:48.051Z,1628813028.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.960003 m, bearing: 94.990070 deg, deltaT: 4.318366 s, approachRate: 0.764179 m/s, LOS rate: -0.191996 deg/s, posRepo size: 4
2021-08-13T00:03:49.215Z,1628813029.215 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T00:03:50.430Z,1628813030.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:50.797Z,1628813030.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:50.797Z,1628813030.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:50.797Z,1628813030.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:50.798Z,1628813030.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:51.211Z,1628813031.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,005A1,186,80,80,61,FF
2021-08-13T00:03:51.211Z,1628813031.211 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:51.211Z,1628813031.211 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:51.213Z,1628813031.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:51.619Z,1628813031.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:52.009Z,1628813032.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,005D1,186,80,80,6B,FF
2021-08-13T00:03:52.010Z,1628813032.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:52.449Z,1628813032.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000352.74*59

2021-08-13T00:03:52.480Z,1628813032.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 93.430841 deg, deltaT: 4.460879 s, approachRate: 0.645613 m/s, LOS rate: -0.349534 deg/s, posRepo size: 4
2021-08-13T00:03:54.885Z,1628813034.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:03:55.253Z,1628813035.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:03:55.253Z,1628813035.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:03:55.253Z,1628813035.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:03:55.254Z,1628813035.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:03:55.645Z,1628813035.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,005D1,186,80,80,6B,FF
2021-08-13T00:03:55.645Z,1628813035.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:03:55.645Z,1628813035.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:03:55.647Z,1628813035.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:03:56.048Z,1628813036.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:03:56.878Z,1628813036.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000357.17*59

2021-08-13T00:03:57.661Z,1628813037.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,03806,186,80,80,96,FF
2021-08-13T00:03:57.661Z,1628813037.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:03:58.145Z,1628813038.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 823.020020 m, bearing: 87.613364 deg, deltaT: 5.753874 s, approachRate: 134.027954 m/s, LOS rate: -1.011054 deg/s, posRepo size: 4
2021-08-13T00:03:58.146Z,1628813038.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 823.02 m. Resuming terminal guidance.
2021-08-13T00:03:58.146Z,1628813038.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:03:58.956Z,1628813038.956 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T00:04:00.541Z,1628813040.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:00.917Z,1628813040.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:00.917Z,1628813040.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:00.918Z,1628813040.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:00.919Z,1628813040.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:01.297Z,1628813041.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,03806,186,80,80,96,FF
2021-08-13T00:04:01.297Z,1628813041.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:01.297Z,1628813041.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:01.299Z,1628813041.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:01.709Z,1628813041.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:02.125Z,1628813042.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00639,187,80,80,7D,FF
2021-08-13T00:04:02.125Z,1628813042.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:02.537Z,1628813042.537 [Micromodem](INFO): Nmea in: $SNTTA,0.051147,,,,000402.82*4A

2021-08-13T00:04:02.559Z,1628813042.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 87.400719 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:04:02.560Z,1628813042.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 87.400719deg and heading rate command to 0 deg/s.
2021-08-13T00:04:05.014Z,1628813045.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:05.337Z,1628813045.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:05.337Z,1628813045.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:05.337Z,1628813045.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:05.338Z,1628813045.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:05.741Z,1628813045.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00639,187,80,80,7D,FF
2021-08-13T00:04:05.741Z,1628813045.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:05.741Z,1628813045.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:05.743Z,1628813045.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:06.207Z,1628813046.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:06.986Z,1628813046.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000407.27*58

2021-08-13T00:04:07.354Z,1628813047.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,0276A,186,80,80,52,FF
2021-08-13T00:04:07.354Z,1628813047.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:07.791Z,1628813047.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 567.900024 m, bearing: 102.592720 deg, deltaT: 5.217650 s, approachRate: 97.710655 m/s, LOS rate: 2.911656 deg/s, posRepo size: 2
2021-08-13T00:04:07.810Z,1628813047.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 567.900024 m,
      bearing: 102.592720 deg,
      approachRate: 97.710655 m/s,
      LOS rate: 2.911656 deg/s,
      cmd update: 8.734967 deg/s,
      cmd heading: 87.400719 deg,
      new cmd heading: 87.400719 deg.

2021-08-13T00:04:09.011Z,1628813049.011 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:04:10.230Z,1628813050.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:10.593Z,1628813050.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:10.593Z,1628813050.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:10.593Z,1628813050.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:10.594Z,1628813050.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:11.002Z,1628813051.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,0276A,186,80,80,52,FF
2021-08-13T00:04:11.002Z,1628813051.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:11.002Z,1628813051.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:11.004Z,1628813051.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:11.414Z,1628813051.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:11.798Z,1628813051.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,0069F,188,80,80,84,FF
2021-08-13T00:04:11.798Z,1628813051.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:12.255Z,1628813052.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000412.53*5F

2021-08-13T00:04:12.282Z,1628813052.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 60.365485 deg, deltaT: 4.438911 s, approachRate: -113.473778 m/s, LOS rate: -9.512971 deg/s, posRepo size: 3
2021-08-13T00:04:12.284Z,1628813052.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.200005 m,
      bearing: 60.365485 deg,
      approachRate: -113.473778 m/s,
      LOS rate: -9.512971 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 125.949359 deg,
      new cmd heading: 129.984608 deg.

2021-08-13T00:04:14.647Z,1628813054.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:15.042Z,1628813055.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:15.042Z,1628813055.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:15.043Z,1628813055.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:15.044Z,1628813055.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:15.452Z,1628813055.452 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,0069F,188,80,80,84,FF
2021-08-13T00:04:15.452Z,1628813055.452 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:15.453Z,1628813055.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:15.454Z,1628813055.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:15.851Z,1628813055.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:16.259Z,1628813056.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,006C9,186,80,80,8B,FF
2021-08-13T00:04:16.260Z,1628813056.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:16.681Z,1628813056.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000416.98*5C

2021-08-13T00:04:16.725Z,1628813056.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 115.590556 deg, deltaT: 4.453650 s, approachRate: 0.565829 m/s, LOS rate: 12.399957 deg/s, posRepo size: 4
2021-08-13T00:04:16.725Z,1628813056.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.399957 deg/s. Setting heading cmd to target bearing of 115.590556deg and heading rate command to 0 deg/s.
2021-08-13T00:04:19.079Z,1628813059.079 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:04:19.126Z,1628813059.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:19.483Z,1628813059.483 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:19.483Z,1628813059.483 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:19.483Z,1628813059.483 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:19.484Z,1628813059.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:19.897Z,1628813059.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,006C9,186,80,80,8B,FF
2021-08-13T00:04:19.897Z,1628813059.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:19.897Z,1628813059.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:19.898Z,1628813059.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:20.288Z,1628813060.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:20.697Z,1628813060.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,006F8,186,80,80,60,FF
2021-08-13T00:04:20.698Z,1628813060.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:21.149Z,1628813061.149 [Micromodem](INFO): Nmea in: $SNTTA,0.445818,,,,000421.42*45

2021-08-13T00:04:21.213Z,1628813061.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 125.928512 deg, deltaT: 4.411238 s, approachRate: 0.639275 m/s, LOS rate: 2.343550 deg/s, posRepo size: 4
2021-08-13T00:04:21.215Z,1628813061.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.540001 m,
      bearing: 125.928512 deg,
      approachRate: 0.639275 m/s,
      LOS rate: 2.343550 deg/s,
      cmd update: 7.030649 deg/s,
      cmd heading: 115.590556 deg,
      new cmd heading: 115.590556 deg.

2021-08-13T00:04:23.535Z,1628813063.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:23.949Z,1628813063.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:23.949Z,1628813063.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:23.949Z,1628813063.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:23.950Z,1628813063.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:24.340Z,1628813064.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,006F8,186,80,80,60,FF
2021-08-13T00:04:24.341Z,1628813064.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:24.341Z,1628813064.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:24.343Z,1628813064.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:24.733Z,1628813064.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:25.147Z,1628813065.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00719,183,80,80,92,FF
2021-08-13T00:04:25.147Z,1628813065.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:25.581Z,1628813065.581 [Micromodem](INFO): Nmea in: $SNTTA,0.053610,,,,000425.87*4D

2021-08-13T00:04:25.612Z,1628813065.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 98.923303 deg, deltaT: 4.504264 s, approachRate: 0.439583 m/s, LOS rate: -5.995476 deg/s, posRepo size: 4
2021-08-13T00:04:25.614Z,1628813065.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 98.923303 deg,
      approachRate: 0.439583 m/s,
      LOS rate: -5.995476 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.258281 deg,
      new cmd heading: 150.023245 deg.

2021-08-13T00:04:27.991Z,1628813067.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:28.374Z,1628813068.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:28.374Z,1628813068.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:28.374Z,1628813068.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:28.375Z,1628813068.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:28.785Z,1628813068.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00719,183,80,80,92,FF
2021-08-13T00:04:28.785Z,1628813068.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:28.785Z,1628813068.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:28.787Z,1628813068.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:29.192Z,1628813069.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:29.232Z,1628813069.232 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T00:04:29.232Z,1628813069.232 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T00:04:29.232Z,1628813069.232 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T00:04:29.357Z,1628813069.357 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T00:04:29.595Z,1628813069.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00742,187,80,80,74,FF
2021-08-13T00:04:29.595Z,1628813069.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:29.668Z,1628813069.668 [RDI_Pathfinder](INFO): Powering down
2021-08-13T00:04:30.025Z,1628813070.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000430.31*5B

2021-08-13T00:04:30.043Z,1628813070.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.980011 m, bearing: 123.251802 deg, deltaT: 4.488664 s, approachRate: 0.548050 m/s, LOS rate: 5.419986 deg/s, posRepo size: 4
2021-08-13T00:04:30.046Z,1628813070.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.980011 m,
      bearing: 123.251802 deg,
      approachRate: 0.548050 m/s,
      LOS rate: 5.419986 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.634875 deg,
      new cmd heading: 89.362143 deg.

2021-08-13T00:04:30.552Z,1628813070.552 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T00:04:30.552Z,1628813070.552 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T00:04:32.436Z,1628813072.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:32.825Z,1628813072.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:32.826Z,1628813072.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:32.826Z,1628813072.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:32.827Z,1628813072.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:33.221Z,1628813073.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00742,187,80,80,74,FF
2021-08-13T00:04:33.221Z,1628813073.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:33.221Z,1628813073.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:33.223Z,1628813073.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:33.641Z,1628813073.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:34.025Z,1628813074.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00764,183,80,80,6D,FF
2021-08-13T00:04:34.025Z,1628813074.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:34.477Z,1628813074.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000434.75*5F

2021-08-13T00:04:34.502Z,1628813074.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 125.079314 deg, deltaT: 4.358553 s, approachRate: 0.468044 m/s, LOS rate: 0.419293 deg/s, posRepo size: 4
2021-08-13T00:04:34.505Z,1628813074.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 125.079314 deg,
      approachRate: 0.468044 m/s,
      LOS rate: 0.419293 deg/s,
      cmd update: 1.257880 deg/s,
      cmd heading: 146.130221 deg,
      new cmd heading: 151.414637 deg.

2021-08-13T00:04:36.905Z,1628813076.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:37.257Z,1628813077.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:37.257Z,1628813077.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:37.257Z,1628813077.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:37.258Z,1628813077.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:37.674Z,1628813077.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00764,183,80,80,6D,FF
2021-08-13T00:04:37.674Z,1628813077.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:37.675Z,1628813077.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:37.678Z,1628813077.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:38.069Z,1628813078.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:38.471Z,1628813078.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00784,187,80,80,81,FF
2021-08-13T00:04:38.473Z,1628813078.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:38.908Z,1628813078.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000439.20*52

2021-08-13T00:04:38.951Z,1628813078.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 145.408976 deg, deltaT: 4.471582 s, approachRate: 0.429376 m/s, LOS rate: 4.546414 deg/s, posRepo size: 4
2021-08-13T00:04:38.953Z,1628813078.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.939995 m,
      bearing: 145.408976 deg,
      approachRate: 0.429376 m/s,
      LOS rate: 4.546414 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 151.754912 deg,
      new cmd heading: 152.279607 deg.

2021-08-13T00:04:41.325Z,1628813081.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:41.711Z,1628813081.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:41.711Z,1628813081.711 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:41.711Z,1628813081.711 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:41.712Z,1628813081.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:42.133Z,1628813082.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00784,187,80,80,81,FF
2021-08-13T00:04:42.133Z,1628813082.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:42.134Z,1628813082.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:42.141Z,1628813082.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:42.527Z,1628813082.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:42.917Z,1628813082.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0079E,187,80,80,88,FF
2021-08-13T00:04:42.918Z,1628813082.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:43.335Z,1628813083.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000443.67*5C

2021-08-13T00:04:43.411Z,1628813083.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 142.947253 deg, deltaT: 4.428751 s, approachRate: 0.352247 m/s, LOS rate: -0.555850 deg/s, posRepo size: 4
2021-08-13T00:04:43.418Z,1628813083.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 142.947253 deg,
      approachRate: 0.352247 m/s,
      LOS rate: -0.555850 deg/s,
      cmd update: -1.667551 deg/s,
      cmd heading: 204.900501 deg,
      new cmd heading: 210.288201 deg.

2021-08-13T00:04:45.766Z,1628813085.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:46.173Z,1628813086.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:46.173Z,1628813086.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:46.173Z,1628813086.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:46.174Z,1628813086.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:46.549Z,1628813086.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0079E,187,80,80,88,FF
2021-08-13T00:04:46.549Z,1628813086.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:46.549Z,1628813086.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:46.551Z,1628813086.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:46.964Z,1628813086.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:47.354Z,1628813087.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,007AF,188,80,80,83,FF
2021-08-13T00:04:47.354Z,1628813087.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:47.809Z,1628813087.809 [Micromodem](INFO): Nmea in: $SNTTA,0.055625,,,,000448.08*41

2021-08-13T00:04:47.832Z,1628813087.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 119.234489 deg, deltaT: 4.466826 s, approachRate: 0.228349 m/s, LOS rate: -5.308638 deg/s, posRepo size: 4
2021-08-13T00:04:47.834Z,1628813087.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.520004 m,
      bearing: 119.234489 deg,
      approachRate: 0.228349 m/s,
      LOS rate: -5.308638 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.462991 deg,
      new cmd heading: 196.780954 deg.

2021-08-13T00:04:49.017Z,1628813089.017 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:04:50.221Z,1628813090.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:50.585Z,1628813090.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:50.585Z,1628813090.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:50.585Z,1628813090.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:50.586Z,1628813090.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:50.993Z,1628813090.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,007AF,188,80,80,83,FF
2021-08-13T00:04:50.993Z,1628813090.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:50.993Z,1628813090.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:50.995Z,1628813090.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:51.405Z,1628813091.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:51.797Z,1628813091.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,007AF,187,80,80,C4,FF
2021-08-13T00:04:51.797Z,1628813091.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:52.237Z,1628813092.237 [Micromodem](INFO): Nmea in: $SNTTA,0.059784,,,,000452.52*43

2021-08-13T00:04:52.263Z,1628813092.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 200.840688 deg, deltaT: 4.410589 s, approachRate: 0.000000 m/s, LOS rate: 18.502335 deg/s, posRepo size: 4
2021-08-13T00:04:52.264Z,1628813092.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.502335 deg/s. Setting heading cmd to target bearing of 200.840688deg and heading rate command to 0 deg/s.
2021-08-13T00:04:54.651Z,1628813094.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:55.029Z,1628813095.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:55.029Z,1628813095.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:55.029Z,1628813095.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:55.030Z,1628813095.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:55.441Z,1628813095.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,007AF,187,80,80,C4,FF
2021-08-13T00:04:55.441Z,1628813095.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:55.441Z,1628813095.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:55.443Z,1628813095.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:04:55.851Z,1628813095.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:04:56.246Z,1628813096.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,007A7,185,80,80,A8,FF
2021-08-13T00:04:56.247Z,1628813096.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:04:56.682Z,1628813096.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000456.97*57

2021-08-13T00:04:56.698Z,1628813096.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 196.471115 deg, deltaT: 4.430268 s, approachRate: -0.108346 m/s, LOS rate: -0.986300 deg/s, posRepo size: 4
2021-08-13T00:04:56.700Z,1628813096.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 196.471115 deg,
      approachRate: -0.108346 m/s,
      LOS rate: -0.986300 deg/s,
      cmd update: -2.958899 deg/s,
      cmd heading: 200.840688 deg,
      new cmd heading: 200.840688 deg.

2021-08-13T00:04:59.172Z,1628813099.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:04:59.481Z,1628813099.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:04:59.481Z,1628813099.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:04:59.481Z,1628813099.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:04:59.482Z,1628813099.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:04:59.886Z,1628813099.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,007A7,185,80,80,A8,FF
2021-08-13T00:04:59.886Z,1628813099.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:04:59.886Z,1628813099.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:04:59.888Z,1628813099.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:00.284Z,1628813100.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:00.685Z,1628813100.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,007AB,188,80,80,9F,FF
2021-08-13T00:05:00.686Z,1628813100.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:01.122Z,1628813101.122 [Micromodem](INFO): Nmea in: $SNTTA,0.395457,0.395451,,,000501.41*59

2021-08-13T00:05:01.213Z,1628813101.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 196.104307 deg, deltaT: 4.472275 s, approachRate: 0.053663 m/s, LOS rate: -0.082018 deg/s, posRepo size: 4
2021-08-13T00:05:01.215Z,1628813101.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.279999 m,
      bearing: 196.104307 deg,
      approachRate: 0.053663 m/s,
      LOS rate: -0.082018 deg/s,
      cmd update: -0.246055 deg/s,
      cmd heading: 187.607714 deg,
      new cmd heading: 186.240747 deg.

2021-08-13T00:05:03.562Z,1628813103.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:03.936Z,1628813103.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:03.938Z,1628813103.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:03.938Z,1628813103.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:03.955Z,1628813103.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:04.330Z,1628813104.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,007AB,188,80,80,9F,FF
2021-08-13T00:05:04.330Z,1628813104.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:04.330Z,1628813104.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:04.332Z,1628813104.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:04.733Z,1628813104.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:05.570Z,1628813105.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000505.86*50

2021-08-13T00:05:06.391Z,1628813106.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:07.961Z,1628813107.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,188,80,80,9F,FF
2021-08-13T00:05:07.961Z,1628813107.961 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,188,80,80,9F,FF
2021-08-13T00:05:07.961Z,1628813107.961 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:05:09.239Z,1628813109.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:09.581Z,1628813109.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:09.581Z,1628813109.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:09.581Z,1628813109.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:09.582Z,1628813109.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:09.977Z,1628813109.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,188,80,80,9F,FF
2021-08-13T00:05:09.977Z,1628813109.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:09.977Z,1628813109.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:09.979Z,1628813109.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:10.388Z,1628813110.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:10.792Z,1628813110.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00796,189,80,80,B7,FF
2021-08-13T00:05:10.793Z,1628813110.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:11.233Z,1628813111.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000511.50*5E

2021-08-13T00:05:11.290Z,1628813111.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 251.723316 deg, deltaT: 10.063442 s, approachRate: -0.125205 m/s, LOS rate: 5.526838 deg/s, posRepo size: 4
2021-08-13T00:05:11.292Z,1628813111.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 251.723316 deg,
      approachRate: -0.125205 m/s,
      LOS rate: 5.526838 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 185.131568 deg,
      new cmd heading: 185.013445 deg.

2021-08-13T00:05:13.630Z,1628813113.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:14.020Z,1628813114.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:14.020Z,1628813114.020 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:14.021Z,1628813114.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:14.021Z,1628813114.021 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:14.425Z,1628813114.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00796,189,80,80,B7,FF
2021-08-13T00:05:14.425Z,1628813114.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:14.426Z,1628813114.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:14.427Z,1628813114.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:14.828Z,1628813114.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:15.237Z,1628813115.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,00793,186,80,80,A6,FF
2021-08-13T00:05:15.238Z,1628813115.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:15.669Z,1628813115.669 [Micromodem](INFO): Nmea in: $SNTTA,0.052178,,,,000515.95*44

2021-08-13T00:05:15.723Z,1628813115.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 163.638792 deg, deltaT: 4.551860 s, approachRate: -0.039544 m/s, LOS rate: -19.351326 deg/s, posRepo size: 4
2021-08-13T00:05:15.724Z,1628813115.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.351326 deg/s. Setting heading cmd to target bearing of 163.638792deg and heading rate command to 0 deg/s.
2021-08-13T00:05:18.083Z,1628813118.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:18.465Z,1628813118.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:18.465Z,1628813118.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:18.465Z,1628813118.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:18.466Z,1628813118.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:18.900Z,1628813118.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,00793,186,80,80,A6,FF
2021-08-13T00:05:18.901Z,1628813118.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:18.901Z,1628813118.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:18.916Z,1628813118.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:19.320Z,1628813119.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:19.705Z,1628813119.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B04,000,0077F,189,80,80,AE,FF
2021-08-13T00:05:19.706Z,1628813119.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:20.133Z,1628813120.133 [Micromodem](INFO): Nmea in: $SNTTA,0.062734,,,,000520.45*42

2021-08-13T00:05:20.180Z,1628813120.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 269.804657 deg, deltaT: 4.360471 s, approachRate: -0.275199 m/s, LOS rate: 24.347340 deg/s, posRepo size: 4
2021-08-13T00:05:20.181Z,1628813120.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.347340 deg/s. Setting heading cmd to target bearing of 269.804657deg and heading rate command to 0 deg/s.
2021-08-13T00:05:22.578Z,1628813122.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:22.961Z,1628813122.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:22.961Z,1628813122.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:22.962Z,1628813122.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:22.963Z,1628813122.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:23.345Z,1628813123.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B04,000,0077F,189,80,80,AE,FF
2021-08-13T00:05:23.345Z,1628813123.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:23.345Z,1628813123.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:23.347Z,1628813123.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:23.749Z,1628813123.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:24.169Z,1628813124.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,0076C,189,80,80,A1,FF
2021-08-13T00:05:24.170Z,1628813124.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:24.581Z,1628813124.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000524.87*52

2021-08-13T00:05:24.620Z,1628813124.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 267.083264 deg, deltaT: 4.502224 s, approachRate: -0.253210 m/s, LOS rate: -0.604455 deg/s, posRepo size: 4
2021-08-13T00:05:24.622Z,1628813124.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.500000 m,
      bearing: 267.083264 deg,
      approachRate: -0.253210 m/s,
      LOS rate: -0.604455 deg/s,
      cmd update: -1.813366 deg/s,
      cmd heading: 269.804657 deg,
      new cmd heading: 269.804657 deg.

2021-08-13T00:05:25.385Z,1628813125.385 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:05:27.025Z,1628813127.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:27.385Z,1628813127.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:27.385Z,1628813127.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:27.386Z,1628813127.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:27.387Z,1628813127.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:27.785Z,1628813127.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2B,000,0076C,189,80,80,A1,FF
2021-08-13T00:05:27.785Z,1628813127.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:27.785Z,1628813127.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:27.787Z,1628813127.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:28.198Z,1628813128.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:28.589Z,1628813128.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,0074D,189,80,80,8F,FF
2021-08-13T00:05:28.589Z,1628813128.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:29.057Z,1628813129.057 [Micromodem](INFO): Nmea in: $SNTTA,0.056975,,,,000529.31*44

2021-08-13T00:05:29.168Z,1628813129.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 265.505436 deg, deltaT: 4.406040 s, approachRate: -0.422148 m/s, LOS rate: -0.358106 deg/s, posRepo size: 4
2021-08-13T00:05:29.170Z,1628813129.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 265.505436 deg,
      approachRate: -0.422148 m/s,
      LOS rate: -0.358106 deg/s,
      cmd update: -1.074317 deg/s,
      cmd heading: 261.821928 deg,
      new cmd heading: 260.832638 deg.

2021-08-13T00:05:31.465Z,1628813131.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:31.821Z,1628813131.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:31.821Z,1628813131.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:31.821Z,1628813131.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:31.822Z,1628813131.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:32.237Z,1628813132.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,0074D,189,80,80,8F,FF
2021-08-13T00:05:32.237Z,1628813132.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:32.237Z,1628813132.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:32.239Z,1628813132.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:32.652Z,1628813132.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:33.041Z,1628813133.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00725,18A,80,80,87,FF
2021-08-13T00:05:33.041Z,1628813133.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:33.473Z,1628813133.473 [Micromodem](INFO): Nmea in: $SNTTA,0.190955,,,,000533.77*44

2021-08-13T00:05:33.502Z,1628813133.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 279.416263 deg, deltaT: 4.546378 s, approachRate: -0.527891 m/s, LOS rate: 3.059760 deg/s, posRepo size: 4
2021-08-13T00:05:33.503Z,1628813133.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 279.416263 deg,
      approachRate: -0.527891 m/s,
      LOS rate: 3.059760 deg/s,
      cmd update: 9.179281 deg/s,
      cmd heading: 256.955030 deg,
      new cmd heading: 256.580040 deg.

2021-08-13T00:05:35.900Z,1628813135.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:36.277Z,1628813136.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:36.277Z,1628813136.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:36.277Z,1628813136.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:36.278Z,1628813136.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:36.684Z,1628813136.684 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00725,18A,80,80,87,FF
2021-08-13T00:05:36.684Z,1628813136.684 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:36.684Z,1628813136.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:36.686Z,1628813136.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:37.125Z,1628813137.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:37.485Z,1628813137.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,006F5,186,80,80,9D,FF
2021-08-13T00:05:37.486Z,1628813137.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:37.937Z,1628813137.937 [Micromodem](INFO): Nmea in: $SNTTA,0.081505,,,,000538.21*44

2021-08-13T00:05:37.953Z,1628813137.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 273.953396 deg, deltaT: 4.325615 s, approachRate: -0.665802 m/s, LOS rate: -1.262911 deg/s, posRepo size: 4
2021-08-13T00:05:37.955Z,1628813137.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.360001 m,
      bearing: 273.953396 deg,
      approachRate: -0.665802 m/s,
      LOS rate: -1.262911 deg/s,
      cmd update: -3.788733 deg/s,
      cmd heading: 296.883332 deg,
      new cmd heading: 301.018745 deg.

2021-08-13T00:05:40.362Z,1628813140.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:40.725Z,1628813140.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:40.725Z,1628813140.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:40.725Z,1628813140.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:40.726Z,1628813140.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:41.143Z,1628813141.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,006F5,186,80,80,9D,FF
2021-08-13T00:05:41.143Z,1628813141.143 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:41.144Z,1628813141.144 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:41.149Z,1628813141.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:41.529Z,1628813141.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:41.926Z,1628813141.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,006C6,186,80,80,9D,FF
2021-08-13T00:05:41.927Z,1628813141.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:42.353Z,1628813142.353 [Micromodem](INFO): Nmea in: $SNTTA,0.163335,,,,000542.67*43

2021-08-13T00:05:42.401Z,1628813142.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 273.122080 deg, deltaT: 4.480292 s, approachRate: -0.629421 m/s, LOS rate: -0.185550 deg/s, posRepo size: 4
2021-08-13T00:05:42.403Z,1628813142.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.540009 m,
      bearing: 273.122080 deg,
      approachRate: -0.629421 m/s,
      LOS rate: -0.185550 deg/s,
      cmd update: -0.556649 deg/s,
      cmd heading: 279.923780 deg,
      new cmd heading: 278.338275 deg.

2021-08-13T00:05:44.791Z,1628813144.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:45.169Z,1628813145.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:45.170Z,1628813145.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:45.170Z,1628813145.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:45.171Z,1628813145.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:45.561Z,1628813145.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,006C6,186,80,80,9D,FF
2021-08-13T00:05:45.561Z,1628813145.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:45.561Z,1628813145.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:45.563Z,1628813145.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:45.965Z,1628813145.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:46.373Z,1628813146.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00699,186,80,80,9D,FF
2021-08-13T00:05:46.374Z,1628813146.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:46.806Z,1628813146.806 [Micromodem](INFO): Nmea in: $SNTTA,0.072264,,,,000547.09*4A

2021-08-13T00:05:46.901Z,1628813146.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 268.580196 deg, deltaT: 4.442503 s, approachRate: -0.607767 m/s, LOS rate: -1.022371 deg/s, posRepo size: 4
2021-08-13T00:05:46.925Z,1628813146.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.840004 m,
      bearing: 268.580196 deg,
      approachRate: -0.607767 m/s,
      LOS rate: -1.022371 deg/s,
      cmd update: -3.067112 deg/s,
      cmd heading: 277.462447 deg,
      new cmd heading: 277.191069 deg.

2021-08-13T00:05:49.298Z,1628813149.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:49.607Z,1628813149.607 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:49.608Z,1628813149.608 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:49.608Z,1628813149.608 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:49.609Z,1628813149.609 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:50.005Z,1628813150.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,00699,186,80,80,9D,FF
2021-08-13T00:05:50.005Z,1628813150.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:50.005Z,1628813150.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:50.007Z,1628813150.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:50.421Z,1628813150.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:51.242Z,1628813151.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000551.53*59

2021-08-13T00:05:52.053Z,1628813152.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:53.641Z,1628813153.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9D,FF
2021-08-13T00:05:53.641Z,1628813153.641 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9D,FF
2021-08-13T00:05:53.641Z,1628813153.641 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:05:54.950Z,1628813154.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:55.257Z,1628813155.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:55.257Z,1628813155.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:55.257Z,1628813155.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:55.258Z,1628813155.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:55.661Z,1628813155.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9D,FF
2021-08-13T00:05:55.661Z,1628813155.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:55.661Z,1628813155.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:55.663Z,1628813155.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:05:56.068Z,1628813156.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:05:56.469Z,1628813156.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00623,187,80,80,89,FF
2021-08-13T00:05:56.469Z,1628813156.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:05:56.941Z,1628813156.941 [Micromodem](INFO): Nmea in: $SNTTA,0.064224,,,,000557.19*49

2021-08-13T00:05:56.985Z,1628813156.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 272.000754 deg, deltaT: 10.096003 s, approachRate: -0.701268 m/s, LOS rate: 0.338803 deg/s, posRepo size: 4
2021-08-13T00:05:56.987Z,1628813156.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.760002 m,
      bearing: 272.000754 deg,
      approachRate: -0.701268 m/s,
      LOS rate: 0.338803 deg/s,
      cmd update: 1.016410 deg/s,
      cmd heading: 246.433719 deg,
      new cmd heading: 244.998403 deg.

2021-08-13T00:05:59.079Z,1628813159.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:05:59.321Z,1628813159.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:05:59.321Z,1628813159.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:05:59.321Z,1628813159.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:05:59.322Z,1628813159.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:05:59.734Z,1628813159.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00623,187,80,80,89,FF
2021-08-13T00:05:59.734Z,1628813159.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:05:59.734Z,1628813159.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:05:59.736Z,1628813159.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:00.140Z,1628813160.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:00.539Z,1628813160.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,005F4,188,80,80,B1,FF
2021-08-13T00:06:00.539Z,1628813160.539 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:00.981Z,1628813160.981 [Micromodem](INFO): Nmea in: $SNTTA,0.043176,,,,000601.26*44

2021-08-13T00:06:01.027Z,1628813161.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 278.507630 deg, deltaT: 4.035098 s, approachRate: -0.698870 m/s, LOS rate: 1.612569 deg/s, posRepo size: 4
2021-08-13T00:06:01.029Z,1628813161.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 278.507630 deg,
      approachRate: -0.698870 m/s,
      LOS rate: 1.612569 deg/s,
      cmd update: 4.837708 deg/s,
      cmd heading: 250.538689 deg,
      new cmd heading: 251.017927 deg.

2021-08-13T00:06:03.425Z,1628813163.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:03.777Z,1628813163.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:03.777Z,1628813163.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:03.777Z,1628813163.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:03.778Z,1628813163.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:04.189Z,1628813164.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,005F4,188,80,80,B1,FF
2021-08-13T00:06:04.189Z,1628813164.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:04.189Z,1628813164.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:04.191Z,1628813164.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:04.609Z,1628813164.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:05.013Z,1628813165.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,005C3,18A,80,80,BC,FF
2021-08-13T00:06:05.014Z,1628813165.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:05.441Z,1628813165.441 [Micromodem](INFO): Nmea in: $SNTTA,0.289165,,,,000605.72*47

2021-08-13T00:06:05.513Z,1628813165.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 282.807070 deg, deltaT: 4.521996 s, approachRate: -0.650153 m/s, LOS rate: 0.950784 deg/s, posRepo size: 4
2021-08-13T00:06:05.520Z,1628813165.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.000004 m,
      bearing: 282.807070 deg,
      approachRate: -0.650153 m/s,
      LOS rate: 0.950784 deg/s,
      cmd update: 2.852351 deg/s,
      cmd heading: 272.306504 deg,
      new cmd heading: 274.495925 deg.

2021-08-13T00:06:07.870Z,1628813167.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:08.233Z,1628813168.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:08.233Z,1628813168.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:08.233Z,1628813168.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:08.234Z,1628813168.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:08.637Z,1628813168.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,005C3,18A,80,80,BC,FF
2021-08-13T00:06:08.638Z,1628813168.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:08.638Z,1628813168.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:08.642Z,1628813168.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:09.063Z,1628813169.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:09.462Z,1628813169.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00596,186,80,80,74,FF
2021-08-13T00:06:09.462Z,1628813169.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:09.901Z,1628813169.901 [Micromodem](INFO): Nmea in: $SNTTA,0.055588,,,,000610.17*44

2021-08-13T00:06:09.923Z,1628813169.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 278.586122 deg, deltaT: 4.400764 s, approachRate: -0.613530 m/s, LOS rate: -0.959140 deg/s, posRepo size: 4
2021-08-13T00:06:09.946Z,1628813169.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.300003 m,
      bearing: 278.586122 deg,
      approachRate: -0.613530 m/s,
      LOS rate: -0.959140 deg/s,
      cmd update: -2.877419 deg/s,
      cmd heading: 284.924509 deg,
      new cmd heading: 286.192171 deg.

2021-08-13T00:06:12.321Z,1628813172.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:12.693Z,1628813172.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:12.693Z,1628813172.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:12.693Z,1628813172.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:12.694Z,1628813172.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:13.105Z,1628813173.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00596,186,80,80,74,FF
2021-08-13T00:06:13.105Z,1628813173.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:13.106Z,1628813173.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:13.111Z,1628813173.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:13.506Z,1628813173.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:13.905Z,1628813173.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0055F,186,80,80,BE,FF
2021-08-13T00:06:13.905Z,1628813173.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:14.315Z,1628813174.315 [Micromodem](INFO): Nmea in: $SNTTA,0.061139,,,,000614.64*4D

2021-08-13T00:06:14.358Z,1628813174.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 277.738851 deg, deltaT: 4.475224 s, approachRate: -0.737394 m/s, LOS rate: -0.189325 deg/s, posRepo size: 4
2021-08-13T00:06:14.361Z,1628813174.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.000000 m,
      bearing: 277.738851 deg,
      approachRate: -0.737394 m/s,
      LOS rate: -0.189325 deg/s,
      cmd update: -0.567975 deg/s,
      cmd heading: 272.058906 deg,
      new cmd heading: 270.884389 deg.

2021-08-13T00:06:16.739Z,1628813176.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:17.139Z,1628813177.139 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:17.139Z,1628813177.139 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:17.139Z,1628813177.139 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:17.141Z,1628813177.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:17.533Z,1628813177.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0055F,186,80,80,BE,FF
2021-08-13T00:06:17.533Z,1628813177.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:17.533Z,1628813177.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:17.535Z,1628813177.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:17.940Z,1628813177.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:18.337Z,1628813178.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00533,183,80,80,A0,FF
2021-08-13T00:06:18.337Z,1628813178.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:18.781Z,1628813178.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000619.06*56

2021-08-13T00:06:18.824Z,1628813178.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 279.388915 deg, deltaT: 4.544720 s, approachRate: -0.580894 m/s, LOS rate: 0.363073 deg/s, posRepo size: 4
2021-08-13T00:06:18.826Z,1628813178.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 279.388915 deg,
      approachRate: -0.580894 m/s,
      LOS rate: 0.363073 deg/s,
      cmd update: 1.089219 deg/s,
      cmd heading: 269.475329 deg,
      new cmd heading: 269.293050 deg.

2021-08-13T00:06:21.243Z,1628813181.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:21.577Z,1628813181.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:21.577Z,1628813181.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:21.578Z,1628813181.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:21.578Z,1628813181.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:21.973Z,1628813181.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00533,183,80,80,A0,FF
2021-08-13T00:06:21.973Z,1628813181.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:21.973Z,1628813181.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:21.975Z,1628813181.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:22.385Z,1628813182.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:22.789Z,1628813182.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00505,187,80,80,7B,FF
2021-08-13T00:06:22.790Z,1628813182.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:23.218Z,1628813183.218 [Micromodem](INFO): Nmea in: $SNTTA,0.049324,,,,000623.50*4A

2021-08-13T00:06:23.283Z,1628813183.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 280.165808 deg, deltaT: 4.308165 s, approachRate: -0.640644 m/s, LOS rate: 0.180330 deg/s, posRepo size: 4
2021-08-13T00:06:23.290Z,1628813183.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m.
2021-08-13T00:06:23.296Z,1628813183.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.599998 m,
      bearing: 280.165808 deg,
      approachRate: -0.640644 m/s,
      LOS rate: 0.180330 deg/s,
      cmd update: 0.540991 deg/s,
      cmd heading: 274.167840 deg,
      new cmd heading: 274.686644 deg.

2021-08-13T00:06:23.631Z,1628813183.631 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:06:23.665Z,1628813183.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:06:23.665Z,1628813183.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:06:23.666Z,1628813183.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:06:23.668Z,1628813183.668 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:06:23.668Z,1628813183.668 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:06:23.668Z,1628813183.668 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:06:24.049Z,1628813184.049 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:06:24.049Z,1628813184.049 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:06:24.049Z,1628813184.049 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:06:24.050Z,1628813184.050 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:06:25.323Z,1628813185.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:25.613Z,1628813185.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:25.613Z,1628813185.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:25.613Z,1628813185.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:25.614Z,1628813185.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:26.017Z,1628813186.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00505,187,80,80,7B,FF
2021-08-13T00:06:26.017Z,1628813186.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:26.017Z,1628813186.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:26.019Z,1628813186.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:26.420Z,1628813186.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:26.837Z,1628813186.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,004D6,186,80,80,5F,FF
2021-08-13T00:06:26.838Z,1628813186.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:26.936Z,1628813186.936 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:27.273Z,1628813187.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000627.54*5C

2021-08-13T00:06:27.338Z,1628813187.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 281.241235 deg, deltaT: 4.126328 s, approachRate: -0.683416 m/s, LOS rate: 0.260626 deg/s, posRepo size: 4
2021-08-13T00:06:27.339Z,1628813187.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-08-13T00:06:27.341Z,1628813187.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 281.241235 deg,
      approachRate: -0.683416 m/s,
      LOS rate: 0.260626 deg/s,
      cmd update: 0.781877 deg/s,
      cmd heading: 276.390262 deg,
      new cmd heading: 276.619123 deg.

2021-08-13T00:06:29.685Z,1628813189.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:30.053Z,1628813190.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:30.053Z,1628813190.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:30.053Z,1628813190.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:30.054Z,1628813190.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:30.461Z,1628813190.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,004D6,186,80,80,5F,FF
2021-08-13T00:06:30.461Z,1628813190.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:30.461Z,1628813190.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:30.463Z,1628813190.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:30.917Z,1628813190.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:31.265Z,1628813191.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,004AC,186,80,80,93,FF
2021-08-13T00:06:31.265Z,1628813191.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:31.296Z,1628813191.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:31.709Z,1628813191.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000631.99*5A

2021-08-13T00:06:31.746Z,1628813191.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 284.777334 deg, deltaT: 4.360270 s, approachRate: -0.577946 m/s, LOS rate: 0.810981 deg/s, posRepo size: 4
2021-08-13T00:06:31.746Z,1628813191.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.26 m.
2021-08-13T00:06:31.749Z,1628813191.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.259998 m,
      bearing: 284.777334 deg,
      approachRate: -0.577946 m/s,
      LOS rate: 0.810981 deg/s,
      cmd update: 2.432945 deg/s,
      cmd heading: 279.813263 deg,
      new cmd heading: 280.167204 deg.

2021-08-13T00:06:34.171Z,1628813194.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:34.497Z,1628813194.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:34.497Z,1628813194.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:34.497Z,1628813194.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:34.498Z,1628813194.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:34.957Z,1628813194.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,004AC,186,80,80,93,FF
2021-08-13T00:06:34.957Z,1628813194.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:34.957Z,1628813194.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:34.959Z,1628813194.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:35.336Z,1628813195.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:35.729Z,1628813195.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00480,185,80,80,A0,FF
2021-08-13T00:06:35.730Z,1628813195.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:35.755Z,1628813195.755 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:36.186Z,1628813196.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000636.48*51

2021-08-13T00:06:36.218Z,1628813196.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 284.558740 deg, deltaT: 4.458113 s, approachRate: -0.592178 m/s, LOS rate: -0.049033 deg/s, posRepo size: 4
2021-08-13T00:06:36.218Z,1628813196.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.62 m.
2021-08-13T00:06:36.221Z,1628813196.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.620001 m,
      bearing: 284.558740 deg,
      approachRate: -0.592178 m/s,
      LOS rate: -0.049033 deg/s,
      cmd update: -0.147098 deg/s,
      cmd heading: 290.660060 deg,
      new cmd heading: 291.793272 deg.

2021-08-13T00:06:38.584Z,1628813198.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:38.965Z,1628813198.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:38.965Z,1628813198.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:38.965Z,1628813198.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:38.966Z,1628813198.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:39.377Z,1628813199.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00480,185,80,80,A0,FF
2021-08-13T00:06:39.377Z,1628813199.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:39.377Z,1628813199.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:39.379Z,1628813199.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:39.780Z,1628813199.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:40.185Z,1628813200.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,0044D,184,80,80,68,FF
2021-08-13T00:06:40.186Z,1628813200.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:40.255Z,1628813200.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:40.629Z,1628813200.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000640.91*54

2021-08-13T00:06:40.648Z,1628813200.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 282.068016 deg, deltaT: 4.500914 s, approachRate: -0.679863 m/s, LOS rate: -0.553382 deg/s, posRepo size: 4
2021-08-13T00:06:40.648Z,1628813200.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-08-13T00:06:40.649Z,1628813200.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.56 m.
2021-08-13T00:06:40.649Z,1628813200.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:06:40.651Z,1628813200.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 282.068016 deg,
      approachRate: -0.679863 m/s,
      LOS rate: -0.553382 deg/s,
      cmd update: -1.660146 deg/s,
      cmd heading: 289.997993 deg,
      new cmd heading: 289.939823 deg.

2021-08-13T00:06:43.062Z,1628813203.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:43.409Z,1628813203.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:43.409Z,1628813203.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:43.409Z,1628813203.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:43.410Z,1628813203.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:43.829Z,1628813203.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,0044D,184,80,80,68,FF
2021-08-13T00:06:43.829Z,1628813203.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:43.829Z,1628813203.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:43.831Z,1628813203.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:44.225Z,1628813204.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:44.633Z,1628813204.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,0041F,186,80,80,87,FF
2021-08-13T00:06:44.634Z,1628813204.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:44.654Z,1628813204.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:45.065Z,1628813205.065 [Micromodem](INFO): Nmea in: $SNTTA,0.035961,,,,000645.35*49

2021-08-13T00:06:45.177Z,1628813205.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 280.503411 deg, deltaT: 4.398533 s, approachRate: -0.627482 m/s, LOS rate: -0.355711 deg/s, posRepo size: 4
2021-08-13T00:06:45.179Z,1628813205.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 280.503411 deg,
      approachRate: -0.627482 m/s,
      LOS rate: -0.355711 deg/s,
      cmd update: -1.067132 deg/s,
      cmd heading: 282.695766 deg,
      new cmd heading: 281.828531 deg.

2021-08-13T00:06:47.193Z,1628813207.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:47.449Z,1628813207.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:47.449Z,1628813207.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:47.449Z,1628813207.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:47.450Z,1628813207.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:47.874Z,1628813207.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,0041F,186,80,80,87,FF
2021-08-13T00:06:47.874Z,1628813207.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:47.875Z,1628813207.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:47.881Z,1628813207.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:48.265Z,1628813208.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:48.666Z,1628813208.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,002,000,003F0,182,80,80,71,FF
2021-08-13T00:06:48.667Z,1628813208.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:48.718Z,1628813208.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:49.085Z,1628813209.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000649.40*51

2021-08-13T00:06:49.171Z,1628813209.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 284.908009 deg, deltaT: 4.063969 s, approachRate: -0.693902 m/s, LOS rate: 1.083817 deg/s, posRepo size: 4
2021-08-13T00:06:49.173Z,1628813209.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.980001 m,
      bearing: 284.908009 deg,
      approachRate: -0.693902 m/s,
      LOS rate: 1.083817 deg/s,
      cmd update: 3.251450 deg/s,
      cmd heading: 278.358779 deg,
      new cmd heading: 277.872556 deg.

2021-08-13T00:06:51.526Z,1628813211.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:51.909Z,1628813211.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:51.909Z,1628813211.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:51.909Z,1628813211.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:51.911Z,1628813211.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:52.297Z,1628813212.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
002,000,003F0,182,80,80,71,FF
2021-08-13T00:06:52.297Z,1628813212.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:52.297Z,1628813212.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:52.299Z,1628813212.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:52.723Z,1628813212.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:53.116Z,1628813213.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,003C3,187,80,80,4F,FF
2021-08-13T00:06:53.118Z,1628813213.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:53.201Z,1628813213.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:53.554Z,1628813213.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000653.82*54

2021-08-13T00:06:53.583Z,1628813213.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 288.295100 deg, deltaT: 4.483413 s, approachRate: -0.602220 m/s, LOS rate: 0.755472 deg/s, posRepo size: 4
2021-08-13T00:06:53.585Z,1628813213.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.280001 m,
      bearing: 288.295100 deg,
      approachRate: -0.602220 m/s,
      LOS rate: 0.755472 deg/s,
      cmd update: 2.266415 deg/s,
      cmd heading: 292.936507 deg,
      new cmd heading: 294.185627 deg.

2021-08-13T00:06:55.987Z,1628813215.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:06:56.342Z,1628813216.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:06:56.342Z,1628813216.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:06:56.343Z,1628813216.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:06:56.344Z,1628813216.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:06:56.741Z,1628813216.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,003C3,187,80,80,4F,FF
2021-08-13T00:06:56.741Z,1628813216.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:06:56.741Z,1628813216.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:06:56.743Z,1628813216.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:06:57.176Z,1628813217.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:06:57.549Z,1628813217.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0039A,186,80,80,63,FF
2021-08-13T00:06:57.549Z,1628813217.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:06:57.611Z,1628813217.611 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:06:57.998Z,1628813217.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000658.27*50

2021-08-13T00:06:58.020Z,1628813218.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 283.854083 deg, deltaT: 4.409408 s, approachRate: -0.557898 m/s, LOS rate: -1.007168 deg/s, posRepo size: 4
2021-08-13T00:06:58.022Z,1628813218.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 283.854083 deg,
      approachRate: -0.557898 m/s,
      LOS rate: -1.007168 deg/s,
      cmd update: -3.021505 deg/s,
      cmd heading: 302.851405 deg,
      new cmd heading: 303.863255 deg.

2021-08-13T00:07:00.433Z,1628813220.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:00.785Z,1628813220.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:00.785Z,1628813220.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:00.785Z,1628813220.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:00.786Z,1628813220.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:01.185Z,1628813221.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0039A,186,80,80,63,FF
2021-08-13T00:07:01.185Z,1628813221.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:01.185Z,1628813221.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:01.187Z,1628813221.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:01.592Z,1628813221.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:01.997Z,1628813221.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,0037F,185,80,80,5B,FF
2021-08-13T00:07:01.997Z,1628813221.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:02.017Z,1628813222.017 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:02.437Z,1628813222.437 [Micromodem](INFO): Nmea in: $SNTTA,0.024842,,,,000702.71*4B

2021-08-13T00:07:02.498Z,1628813222.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 283.007905 deg, deltaT: 4.406730 s, approachRate: -0.367621 m/s, LOS rate: -0.192020 deg/s, posRepo size: 4
2021-08-13T00:07:02.517Z,1628813222.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 283.007905 deg,
      approachRate: -0.367621 m/s,
      LOS rate: -0.192020 deg/s,
      cmd update: -0.576059 deg/s,
      cmd heading: 289.431490 deg,
      new cmd heading: 287.974369 deg.

2021-08-13T00:07:04.847Z,1628813224.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:05.233Z,1628813225.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:05.233Z,1628813225.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:05.233Z,1628813225.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:05.234Z,1628813225.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:05.629Z,1628813225.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,0037F,185,80,80,5B,FF
2021-08-13T00:07:05.629Z,1628813225.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:05.629Z,1628813225.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:05.631Z,1628813225.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:06.033Z,1628813226.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:06.434Z,1628813226.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E1,000,00348,186,80,80,A6,FF
2021-08-13T00:07:06.434Z,1628813226.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:06.489Z,1628813226.489 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:06.893Z,1628813226.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000707.16*59

2021-08-13T00:07:06.960Z,1628813226.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 285.151792 deg, deltaT: 4.471329 s, approachRate: -0.738035 m/s, LOS rate: 0.479474 deg/s, posRepo size: 4
2021-08-13T00:07:06.962Z,1628813226.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 285.151792 deg,
      approachRate: -0.738035 m/s,
      LOS rate: 0.479474 deg/s,
      cmd update: 1.438423 deg/s,
      cmd heading: 286.858498 deg,
      new cmd heading: 286.582624 deg.

2021-08-13T00:07:09.332Z,1628813229.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:09.677Z,1628813229.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:09.677Z,1628813229.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:09.677Z,1628813229.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:09.678Z,1628813229.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:10.085Z,1628813230.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E1,000,00348,186,80,80,A6,FF
2021-08-13T00:07:10.085Z,1628813230.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:10.085Z,1628813230.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:10.086Z,1628813230.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:10.481Z,1628813230.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:10.924Z,1628813230.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0030D,184,80,80,A6,FF
2021-08-13T00:07:10.925Z,1628813230.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:10.984Z,1628813230.984 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:11.325Z,1628813231.325 [Micromodem](INFO): Nmea in: $SNTTA,0.037344,,,,000711.61*47

2021-08-13T00:07:11.370Z,1628813231.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 283.610382 deg, deltaT: 4.495436 s, approachRate: -0.787465 m/s, LOS rate: -0.342883 deg/s, posRepo size: 4
2021-08-13T00:07:11.372Z,1628813231.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 283.610382 deg,
      approachRate: -0.787465 m/s,
      LOS rate: -0.342883 deg/s,
      cmd update: -1.028650 deg/s,
      cmd heading: 293.302602 deg,
      new cmd heading: 293.883368 deg.

2021-08-13T00:07:13.750Z,1628813233.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:14.124Z,1628813234.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:14.124Z,1628813234.124 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:14.125Z,1628813234.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:14.126Z,1628813234.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:14.521Z,1628813234.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0030D,184,80,80,A6,FF
2021-08-13T00:07:14.521Z,1628813234.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:14.521Z,1628813234.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:14.523Z,1628813234.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:14.956Z,1628813234.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:15.329Z,1628813235.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,002E5,186,80,80,B2,FF
2021-08-13T00:07:15.330Z,1628813235.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:15.427Z,1628813235.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:15.778Z,1628813235.778 [Micromodem](INFO): Nmea in: $SNTTA,0.084525,,,,000716.05*4B

2021-08-13T00:07:15.795Z,1628813235.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 282.033892 deg, deltaT: 4.442617 s, approachRate: -0.540222 m/s, LOS rate: -0.354856 deg/s, posRepo size: 4
2021-08-13T00:07:15.798Z,1628813235.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 282.033892 deg,
      approachRate: -0.540222 m/s,
      LOS rate: -0.354856 deg/s,
      cmd update: -1.064568 deg/s,
      cmd heading: 288.716148 deg,
      new cmd heading: 288.329619 deg.

2021-08-13T00:07:18.229Z,1628813238.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:18.569Z,1628813238.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:18.569Z,1628813238.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:18.569Z,1628813238.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:18.570Z,1628813238.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:18.969Z,1628813238.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,002E5,186,80,80,B2,FF
2021-08-13T00:07:18.969Z,1628813238.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:18.969Z,1628813238.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:18.971Z,1628813238.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:19.409Z,1628813239.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:19.805Z,1628813239.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,002C9,185,80,80,B3,FF
2021-08-13T00:07:19.805Z,1628813239.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:19.825Z,1628813239.825 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:20.225Z,1628813240.225 [Micromodem](INFO): Nmea in: $SNTTA,0.052016,,,,000720.49*48

2021-08-13T00:07:20.272Z,1628813240.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.279998 m, bearing: 288.346135 deg, deltaT: 4.398306 s, approachRate: -0.381966 m/s, LOS rate: 1.435153 deg/s, posRepo size: 4
2021-08-13T00:07:20.274Z,1628813240.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 288.346135 deg,
      approachRate: -0.381966 m/s,
      LOS rate: 1.435153 deg/s,
      cmd update: 4.305459 deg/s,
      cmd heading: 284.029444 deg,
      new cmd heading: 283.550845 deg.

2021-08-13T00:07:22.664Z,1628813242.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:23.037Z,1628813243.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:23.037Z,1628813243.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:23.037Z,1628813243.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:23.038Z,1628813243.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:23.439Z,1628813243.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,002C9,185,80,80,B3,FF
2021-08-13T00:07:23.439Z,1628813243.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:23.439Z,1628813243.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:23.441Z,1628813243.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:23.842Z,1628813243.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:24.245Z,1628813244.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,002C0,184,80,80,94,FF
2021-08-13T00:07:24.245Z,1628813244.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:24.299Z,1628813244.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:24.690Z,1628813244.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000724.96*50

2021-08-13T00:07:24.712Z,1628813244.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 283.555686 deg, deltaT: 4.478476 s, approachRate: -0.120576 m/s, LOS rate: -1.069660 deg/s, posRepo size: 4
2021-08-13T00:07:24.714Z,1628813244.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 283.555686 deg,
      approachRate: -0.120576 m/s,
      LOS rate: -1.069660 deg/s,
      cmd update: -3.208981 deg/s,
      cmd heading: 303.275815 deg,
      new cmd heading: 305.080565 deg.

2021-08-13T00:07:26.297Z,1628813246.297 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T00:07:26.297Z,1628813246.297 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:07:26.298Z,1628813246.298 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T00:07:26.298Z,1628813246.298 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:07:26.298Z,1628813246.298 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T00:07:26.299Z,1628813246.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T00:07:26.299Z,1628813246.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T00:07:26.299Z,1628813246.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T00:07:26.299Z,1628813246.299 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T00:07:26.710Z,1628813246.710 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T000726: (41.552319, -70.708603)
2021-08-13T00:07:26.710Z,1628813246.710 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T00:07:26.711Z,1628813246.711 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:07:27.194Z,1628813247.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:27.473Z,1628813247.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:27.473Z,1628813247.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:27.474Z,1628813247.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:27.475Z,1628813247.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:27.885Z,1628813247.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,002C0,184,80,80,94,FF
2021-08-13T00:07:27.885Z,1628813247.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:27.885Z,1628813247.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:27.887Z,1628813247.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:28.294Z,1628813248.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:28.685Z,1628813248.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,002EE,187,80,80,97,FF
2021-08-13T00:07:28.685Z,1628813248.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:28.738Z,1628813248.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:29.165Z,1628813249.165 [Micromodem](INFO): Nmea in: $SNTTA,0.059027,,,,000729.41*40

2021-08-13T00:07:29.211Z,1628813249.211 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:07:29.237Z,1628813249.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 291.218912 deg, deltaT: 4.434468 s, approachRate: 0.622397 m/s, LOS rate: 1.728105 deg/s, posRepo size: 4
2021-08-13T00:07:29.239Z,1628813249.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 291.218912 deg,
      approachRate: 0.622397 m/s,
      LOS rate: 1.728105 deg/s,
      cmd update: 5.184315 deg/s,
      cmd heading: 289.032707 deg,
      new cmd heading: 287.409434 deg.

2021-08-13T00:07:31.538Z,1628813251.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:31.921Z,1628813251.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:31.921Z,1628813251.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:31.921Z,1628813251.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:31.922Z,1628813251.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:32.325Z,1628813252.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,002EE,187,80,80,97,FF
2021-08-13T00:07:32.325Z,1628813252.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:32.325Z,1628813252.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:32.327Z,1628813252.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:32.738Z,1628813252.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:33.163Z,1628813253.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,002FF,186,80,80,63,FF
2021-08-13T00:07:33.163Z,1628813253.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:33.243Z,1628813253.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:33.570Z,1628813253.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000733.85*54

2021-08-13T00:07:33.591Z,1628813253.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 311.589897 deg, deltaT: 4.504854 s, approachRate: 0.226423 m/s, LOS rate: 4.522008 deg/s, posRepo size: 4
2021-08-13T00:07:33.594Z,1628813253.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 311.589897 deg,
      approachRate: 0.226423 m/s,
      LOS rate: 4.522008 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 312.385143 deg,
      new cmd heading: 314.231366 deg.

2021-08-13T00:07:35.976Z,1628813255.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:36.370Z,1628813256.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:36.371Z,1628813256.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:36.371Z,1628813256.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:36.373Z,1628813256.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:36.765Z,1628813256.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,002FF,186,80,80,63,FF
2021-08-13T00:07:36.765Z,1628813256.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:36.765Z,1628813256.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:36.767Z,1628813256.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:37.193Z,1628813257.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:37.573Z,1628813257.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,0033A,186,80,80,5F,FF
2021-08-13T00:07:37.573Z,1628813257.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:37.614Z,1628813257.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:38.018Z,1628813258.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000738.29*59

2021-08-13T00:07:38.039Z,1628813258.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 312.165491 deg, deltaT: 4.370732 s, approachRate: 0.809932 m/s, LOS rate: 0.131693 deg/s, posRepo size: 4
2021-08-13T00:07:38.042Z,1628813258.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 312.165491 deg,
      approachRate: 0.809932 m/s,
      LOS rate: 0.131693 deg/s,
      cmd update: 0.395078 deg/s,
      cmd heading: 4.647977 deg,
      new cmd heading: 10.032497 deg.

2021-08-13T00:07:40.448Z,1628813260.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:40.809Z,1628813260.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:40.809Z,1628813260.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:40.809Z,1628813260.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:40.810Z,1628813260.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:41.257Z,1628813261.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,0033A,186,80,80,5F,FF
2021-08-13T00:07:41.257Z,1628813261.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:41.257Z,1628813261.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:41.259Z,1628813261.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:41.745Z,1628813261.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:42.173Z,1628813262.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,0036C,18A,80,80,95,FF
2021-08-13T00:07:42.173Z,1628813262.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:42.286Z,1628813262.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:42.565Z,1628813262.565 [Micromodem](INFO): Nmea in: $SNTTA,0.028499,,,,000742.78*40

2021-08-13T00:07:42.601Z,1628813262.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 346.287886 deg, deltaT: 4.671939 s, approachRate: 0.642132 m/s, LOS rate: 7.303690 deg/s, posRepo size: 4
2021-08-13T00:07:42.602Z,1628813262.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.06 m. Rolling out.
2021-08-13T00:07:42.602Z,1628813262.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:07:45.032Z,1628813265.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:45.383Z,1628813265.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:45.383Z,1628813265.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:45.383Z,1628813265.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:45.384Z,1628813265.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:45.782Z,1628813265.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,0036C,18A,80,80,95,FF
2021-08-13T00:07:45.782Z,1628813265.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:45.782Z,1628813265.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:45.784Z,1628813265.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:46.209Z,1628813266.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:47.022Z,1628813267.022 [Micromodem](INFO): Nmea in: $SNTTA,0.013913,,,,000747.31*4F

2021-08-13T00:07:47.393Z,1628813267.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,02D56,186,80,80,40,FF
2021-08-13T00:07:47.394Z,1628813267.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:47.453Z,1628813267.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:07:47.835Z,1628813267.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 658.859985 m, bearing: 353.847266 deg, deltaT: 5.167596 s, approachRate: 124.584038 m/s, LOS rate: 1.462843 deg/s, posRepo size: 4
2021-08-13T00:07:47.852Z,1628813267.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 658.86 m. Resuming terminal guidance.
2021-08-13T00:07:47.856Z,1628813267.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:07:48.268Z,1628813268.268 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:07:48.268Z,1628813268.268 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:07:48.269Z,1628813268.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:07:48.269Z,1628813268.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:07:48.269Z,1628813268.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:07:48.269Z,1628813268.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:07:48.741Z,1628813268.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:07:48.741Z,1628813268.741 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:07:48.742Z,1628813268.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:07:48.742Z,1628813268.742 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:07:50.270Z,1628813270.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:50.633Z,1628813270.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:50.633Z,1628813270.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:50.633Z,1628813270.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:50.634Z,1628813270.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:51.034Z,1628813271.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,02D56,186,80,80,40,FF
2021-08-13T00:07:51.034Z,1628813271.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:51.035Z,1628813271.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:51.036Z,1628813271.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:51.444Z,1628813271.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:51.844Z,1628813271.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,003B4,187,80,80,4F,FF
2021-08-13T00:07:51.844Z,1628813271.844 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:07:52.309Z,1628813272.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000752.56*5D

2021-08-13T00:07:52.335Z,1628813272.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 18.709263 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:07:52.335Z,1628813272.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.38 m.
2021-08-13T00:07:52.360Z,1628813272.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 19.38 m.
2021-08-13T00:07:52.360Z,1628813272.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:07:52.361Z,1628813272.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 18.709263deg and heading rate command to 0 deg/s.
2021-08-13T00:07:52.678Z,1628813272.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:07:52.678Z,1628813272.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:07:52.678Z,1628813272.678 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:07:52.679Z,1628813272.679 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:07:52.679Z,1628813272.679 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:07:52.679Z,1628813272.679 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:07:53.161Z,1628813273.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:07:53.161Z,1628813273.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:07:53.161Z,1628813273.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:07:53.161Z,1628813273.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:07:54.716Z,1628813274.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:55.073Z,1628813275.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:07:55.074Z,1628813275.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:07:55.074Z,1628813275.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:07:55.075Z,1628813275.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:07:55.481Z,1628813275.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,003B4,187,80,80,4F,FF
2021-08-13T00:07:55.481Z,1628813275.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:07:55.481Z,1628813275.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:07:55.483Z,1628813275.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:07:55.889Z,1628813275.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:07:56.718Z,1628813276.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000757.01*5A

2021-08-13T00:07:57.539Z,1628813277.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:07:57.910Z,1628813277.910 [PowerOnly](INFO): Powering down loadControl
2021-08-13T00:07:59.161Z,1628813279.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:07:59.161Z,1628813279.161 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:07:59.161Z,1628813279.161 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:08:00.370Z,1628813280.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:00.733Z,1628813280.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:00.734Z,1628813280.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:00.734Z,1628813280.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:00.735Z,1628813280.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:01.177Z,1628813281.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:08:01.178Z,1628813281.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:01.178Z,1628813281.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:01.179Z,1628813281.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:01.541Z,1628813281.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:02.757Z,1628813282.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000802.72*51

2021-08-13T00:08:03.262Z,1628813283.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:04.397Z,1628813284.397 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:04.765Z,1628813284.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:08:04.766Z,1628813284.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:08:04.766Z,1628813284.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:08:05.229Z,1628813285.229 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T00:08:05.229Z,1628813285.229 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T00:08:05.229Z,1628813285.229 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T00:08:05.476Z,1628813285.476 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T00:08:05.648Z,1628813285.648 [RDI_Pathfinder](INFO): Powering down
2021-08-13T00:08:06.035Z,1628813286.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:06.389Z,1628813286.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:06.390Z,1628813286.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:06.390Z,1628813286.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:06.391Z,1628813286.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:06.572Z,1628813286.572 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T00:08:06.572Z,1628813286.572 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T00:08:06.797Z,1628813286.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,4F,FF
2021-08-13T00:08:06.798Z,1628813286.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:06.798Z,1628813286.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:06.799Z,1628813286.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:07.193Z,1628813287.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:07.613Z,1628813287.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,00403,189,80,80,5F,FF
2021-08-13T00:08:07.613Z,1628813287.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:07.657Z,1628813287.657 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:08.045Z,1628813288.045 [Micromodem](INFO): Nmea in: $SNTTA,0.228477,,,,000808.33*4C

2021-08-13T00:08:08.079Z,1628813288.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 48.282798 deg, deltaT: 15.753802 s, approachRate: 0.300880 m/s, LOS rate: 1.877232 deg/s, posRepo size: 2
2021-08-13T00:08:08.081Z,1628813288.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 48.282798 deg,
      approachRate: 0.300880 m/s,
      LOS rate: 1.877232 deg/s,
      cmd update: 5.631695 deg/s,
      cmd heading: 18.709263 deg,
      new cmd heading: 18.709263 deg.

2021-08-13T00:08:10.437Z,1628813290.437 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:10.452Z,1628813290.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:10.862Z,1628813290.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:10.863Z,1628813290.863 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:10.863Z,1628813290.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:10.868Z,1628813290.868 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:11.238Z,1628813291.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,00403,189,80,80,5F,FF
2021-08-13T00:08:11.238Z,1628813291.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:11.238Z,1628813291.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:11.240Z,1628813291.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:11.663Z,1628813291.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:12.046Z,1628813292.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00423,186,80,80,72,FF
2021-08-13T00:08:12.046Z,1628813292.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:12.136Z,1628813292.136 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:12.497Z,1628813292.497 [Micromodem](INFO): Nmea in: $SNTTA,0.279808,,,,000812.77*47

2021-08-13T00:08:12.522Z,1628813292.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 39.893854 deg, deltaT: 4.478488 s, approachRate: 0.428715 m/s, LOS rate: -1.873164 deg/s, posRepo size: 3
2021-08-13T00:08:12.544Z,1628813292.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 39.893854 deg,
      approachRate: 0.428715 m/s,
      LOS rate: -1.873164 deg/s,
      cmd update: -5.619493 deg/s,
      cmd heading: 43.878470 deg,
      new cmd heading: 46.258109 deg.

2021-08-13T00:08:14.915Z,1628813294.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:15.269Z,1628813295.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:15.270Z,1628813295.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:15.270Z,1628813295.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:15.271Z,1628813295.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:15.685Z,1628813295.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00423,186,80,80,72,FF
2021-08-13T00:08:15.685Z,1628813295.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:15.685Z,1628813295.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:15.690Z,1628813295.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:16.085Z,1628813296.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:16.499Z,1628813296.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00440,186,80,80,5A,FF
2021-08-13T00:08:16.499Z,1628813296.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:16.579Z,1628813296.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:16.925Z,1628813296.925 [Micromodem](INFO): Nmea in: $SNTTA,0.037720,,,,000817.21*4C

2021-08-13T00:08:16.960Z,1628813296.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 46.962605 deg, deltaT: 4.443198 s, approachRate: 0.391610 m/s, LOS rate: 1.590915 deg/s, posRepo size: 4
2021-08-13T00:08:16.962Z,1628813296.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.779999 m,
      bearing: 46.962605 deg,
      approachRate: 0.391610 m/s,
      LOS rate: 1.590915 deg/s,
      cmd update: 4.772745 deg/s,
      cmd heading: 18.745567 deg,
      new cmd heading: 16.568328 deg.

2021-08-13T00:08:19.384Z,1628813299.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:19.722Z,1628813299.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:19.722Z,1628813299.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:19.722Z,1628813299.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:19.723Z,1628813299.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:20.176Z,1628813300.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00440,186,80,80,5A,FF
2021-08-13T00:08:20.177Z,1628813300.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:20.177Z,1628813300.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:20.178Z,1628813300.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:20.533Z,1628813300.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:20.949Z,1628813300.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00456,187,80,80,90,FF
2021-08-13T00:08:20.949Z,1628813300.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:21.006Z,1628813301.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:21.369Z,1628813301.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000821.71*53

2021-08-13T00:08:21.443Z,1628813301.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 49.465313 deg, deltaT: 4.427124 s, approachRate: 0.298162 m/s, LOS rate: 0.565312 deg/s, posRepo size: 4
2021-08-13T00:08:21.443Z,1628813301.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 29.10 m. Rolling out.
2021-08-13T00:08:21.443Z,1628813301.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:08:23.771Z,1628813303.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:24.189Z,1628813304.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:24.189Z,1628813304.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:24.189Z,1628813304.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:24.190Z,1628813304.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:24.561Z,1628813304.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00456,187,80,80,90,FF
2021-08-13T00:08:24.561Z,1628813304.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:24.561Z,1628813304.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:24.563Z,1628813304.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:24.980Z,1628813304.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:25.381Z,1628813305.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,0047C,186,80,80,89,FF
2021-08-13T00:08:25.382Z,1628813305.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:25.436Z,1628813305.436 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:25.813Z,1628813305.813 [Micromodem](INFO): Nmea in: $SNTTA,0.094450,,,,000826.09*49

2021-08-13T00:08:25.858Z,1628813305.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 47.397585 deg, deltaT: 4.430468 s, approachRate: 0.514618 m/s, LOS rate: -0.466706 deg/s, posRepo size: 4
2021-08-13T00:08:28.253Z,1628813308.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:28.609Z,1628813308.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:28.610Z,1628813308.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:28.610Z,1628813308.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:28.611Z,1628813308.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:29.026Z,1628813309.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,0047C,186,80,80,89,FF
2021-08-13T00:08:29.026Z,1628813309.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:29.026Z,1628813309.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:29.029Z,1628813309.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:29.194Z,1628813309.194 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:29.429Z,1628813309.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:29.813Z,1628813309.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00497,187,80,80,36,FF
2021-08-13T00:08:29.813Z,1628813309.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:29.898Z,1628813309.898 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:30.246Z,1628813310.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000830.55*55

2021-08-13T00:08:30.271Z,1628813310.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 52.716332 deg, deltaT: 4.460963 s, approachRate: 0.363150 m/s, LOS rate: 1.192287 deg/s, posRepo size: 4
2021-08-13T00:08:32.666Z,1628813312.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:33.051Z,1628813313.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:33.051Z,1628813313.051 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:33.051Z,1628813313.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:33.052Z,1628813313.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:33.461Z,1628813313.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00497,187,80,80,36,FF
2021-08-13T00:08:33.461Z,1628813313.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:33.461Z,1628813313.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:33.463Z,1628813313.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:33.862Z,1628813313.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:34.269Z,1628813314.269 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:34.679Z,1628813314.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000834.99*51

2021-08-13T00:08:35.510Z,1628813315.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:37.101Z,1628813317.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,36,FF
2021-08-13T00:08:37.101Z,1628813317.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,36,FF
2021-08-13T00:08:37.102Z,1628813317.102 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:08:38.334Z,1628813318.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:38.712Z,1628813318.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:38.713Z,1628813318.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:38.713Z,1628813318.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:38.714Z,1628813318.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:39.145Z,1628813319.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,36,FF
2021-08-13T00:08:39.145Z,1628813319.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:39.145Z,1628813319.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:39.147Z,1628813319.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:39.295Z,1628813319.295 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:39.543Z,1628813319.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:39.938Z,1628813319.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,004E3,186,80,80,8F,FF
2021-08-13T00:08:39.938Z,1628813319.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:39.962Z,1628813319.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:40.377Z,1628813320.377 [Micromodem](INFO): Nmea in: $SNTTA,0.039981,,,,000840.67*47

2021-08-13T00:08:40.403Z,1628813320.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 54.822739 deg, deltaT: 10.064804 s, approachRate: 0.453064 m/s, LOS rate: 0.209284 deg/s, posRepo size: 4
2021-08-13T00:08:42.779Z,1628813322.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:43.185Z,1628813323.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:43.185Z,1628813323.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:43.185Z,1628813323.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:43.186Z,1628813323.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:43.574Z,1628813323.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,004E3,186,80,80,8F,FF
2021-08-13T00:08:43.574Z,1628813323.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:43.574Z,1628813323.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:43.579Z,1628813323.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:43.973Z,1628813323.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:44.373Z,1628813324.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00509,186,80,80,96,FF
2021-08-13T00:08:44.374Z,1628813324.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:44.381Z,1628813324.381 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:08:44.419Z,1628813324.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:44.826Z,1628813324.826 [Micromodem](INFO): Nmea in: $SNTTA,0.045829,,,,000845.11*4B

2021-08-13T00:08:44.862Z,1628813324.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 51.342122 deg, deltaT: 4.457062 s, approachRate: 0.511548 m/s, LOS rate: -0.780922 deg/s, posRepo size: 4
2021-08-13T00:08:47.274Z,1628813327.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:47.607Z,1628813327.607 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:47.607Z,1628813327.607 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:47.607Z,1628813327.607 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:47.608Z,1628813327.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:48.021Z,1628813328.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,00509,186,80,80,96,FF
2021-08-13T00:08:48.021Z,1628813328.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:48.021Z,1628813328.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:48.023Z,1628813328.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:48.420Z,1628813328.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:48.819Z,1628813328.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00532,186,80,80,69,FF
2021-08-13T00:08:48.819Z,1628813328.819 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:48.886Z,1628813328.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:08:49.273Z,1628813329.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000849.55*5B

2021-08-13T00:08:49.299Z,1628813329.299 [RDI_PathfinderUp](ERROR): only read -1 of 4 data items
2021-08-13T00:08:49.339Z,1628813329.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 57.199931 deg, deltaT: 4.467378 s, approachRate: 0.550658 m/s, LOS rate: 1.311241 deg/s, posRepo size: 4
2021-08-13T00:08:49.660Z,1628813329.660 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:08:49.660Z,1628813329.660 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:08:49.661Z,1628813329.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:08:49.661Z,1628813329.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:08:49.661Z,1628813329.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:08:49.661Z,1628813329.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:08:50.069Z,1628813330.069 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:08:50.069Z,1628813330.069 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:08:50.069Z,1628813330.069 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:08:50.070Z,1628813330.070 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:08:51.698Z,1628813331.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:52.057Z,1628813332.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:52.057Z,1628813332.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:52.057Z,1628813332.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:52.058Z,1628813332.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:52.460Z,1628813332.460 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00532,186,80,80,69,FF
2021-08-13T00:08:52.460Z,1628813332.460 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:52.460Z,1628813332.460 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:52.462Z,1628813332.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:52.910Z,1628813332.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:53.698Z,1628813333.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000853.99*50

2021-08-13T00:08:54.526Z,1628813334.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:56.086Z,1628813336.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,69,FF
2021-08-13T00:08:56.087Z,1628813336.087 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,69,FF
2021-08-13T00:08:56.087Z,1628813336.087 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:08:57.338Z,1628813337.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:08:57.711Z,1628813337.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:08:57.711Z,1628813337.711 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:08:57.711Z,1628813337.711 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:08:57.728Z,1628813337.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:08:58.130Z,1628813338.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,69,FF
2021-08-13T00:08:58.131Z,1628813338.131 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:08:58.131Z,1628813338.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:08:58.134Z,1628813338.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:08:58.521Z,1628813338.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:08:58.943Z,1628813338.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,0058F,186,80,80,7B,FF
2021-08-13T00:08:58.943Z,1628813338.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:08:59.357Z,1628813339.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000859.66*5A

2021-08-13T00:08:59.380Z,1628813339.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 48.218516 deg, deltaT: 10.124223 s, approachRate: 0.551154 m/s, LOS rate: -0.887121 deg/s, posRepo size: 4
2021-08-13T00:09:01.773Z,1628813341.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:02.168Z,1628813342.168 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:02.168Z,1628813342.168 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:02.168Z,1628813342.168 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:02.169Z,1628813342.169 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:02.572Z,1628813342.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,0058F,186,80,80,7B,FF
2021-08-13T00:09:02.572Z,1628813342.572 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:02.572Z,1628813342.572 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:02.574Z,1628813342.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:02.976Z,1628813342.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:03.378Z,1628813343.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,005B8,187,80,80,79,FF
2021-08-13T00:09:03.378Z,1628813343.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:03.801Z,1628813343.801 [Micromodem](INFO): Nmea in: $SNTTA,0.424881,,,,000904.10*4F

2021-08-13T00:09:03.846Z,1628813343.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 48.828022 deg, deltaT: 4.429250 s, approachRate: 0.555399 m/s, LOS rate: 0.137609 deg/s, posRepo size: 4
2021-08-13T00:09:06.248Z,1628813346.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:06.605Z,1628813346.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:06.605Z,1628813346.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:06.605Z,1628813346.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:06.606Z,1628813346.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:07.016Z,1628813347.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,005B8,187,80,80,79,FF
2021-08-13T00:09:07.016Z,1628813347.016 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:07.017Z,1628813347.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:07.018Z,1628813347.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:07.413Z,1628813347.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:07.818Z,1628813347.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,005D9,186,80,80,5F,FF
2021-08-13T00:09:07.818Z,1628813347.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:08.253Z,1628813348.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000908.54*5E

2021-08-13T00:09:08.279Z,1628813348.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 33.793631 deg, deltaT: 4.413185 s, approachRate: 0.448655 m/s, LOS rate: -3.406698 deg/s, posRepo size: 4
2021-08-13T00:09:09.473Z,1628813349.473 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:09:10.662Z,1628813350.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:11.056Z,1628813351.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:11.056Z,1628813351.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:11.056Z,1628813351.056 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:11.057Z,1628813351.057 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:11.453Z,1628813351.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,005D9,186,80,80,5F,FF
2021-08-13T00:09:11.453Z,1628813351.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:11.453Z,1628813351.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:11.455Z,1628813351.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:11.877Z,1628813351.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:12.265Z,1628813352.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00607,187,80,80,72,FF
2021-08-13T00:09:12.265Z,1628813352.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:12.709Z,1628813352.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000912.98*55

2021-08-13T00:09:12.754Z,1628813352.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 51.549111 deg, deltaT: 4.441907 s, approachRate: 0.621356 m/s, LOS rate: 3.997265 deg/s, posRepo size: 4
2021-08-13T00:09:15.213Z,1628813355.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:15.489Z,1628813355.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:15.489Z,1628813355.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:15.489Z,1628813355.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:15.490Z,1628813355.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:15.905Z,1628813355.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00607,187,80,80,72,FF
2021-08-13T00:09:15.905Z,1628813355.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:15.905Z,1628813355.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:15.911Z,1628813355.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:16.305Z,1628813356.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:16.706Z,1628813356.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00631,185,80,80,57,FF
2021-08-13T00:09:16.707Z,1628813356.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:17.153Z,1628813357.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000917.43*56

2021-08-13T00:09:17.206Z,1628813357.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 57.888660 deg, deltaT: 4.482133 s, approachRate: 0.562232 m/s, LOS rate: 1.414405 deg/s, posRepo size: 4
2021-08-13T00:09:19.236Z,1628813359.236 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:09:19.556Z,1628813359.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:19.934Z,1628813359.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:19.934Z,1628813359.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:19.935Z,1628813359.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:19.935Z,1628813359.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:20.345Z,1628813360.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00631,185,80,80,57,FF
2021-08-13T00:09:20.345Z,1628813360.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:20.345Z,1628813360.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:20.347Z,1628813360.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:20.748Z,1628813360.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:21.579Z,1628813361.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000921.87*5B

2021-08-13T00:09:22.444Z,1628813362.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:22.761Z,1628813362.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,04BCD,185,80,80,71,FF
2021-08-13T00:09:22.761Z,1628813362.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:23.267Z,1628813363.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1126.800049 m, bearing: 23.634263 deg, deltaT: 6.034672 s, approachRate: 177.176163 m/s, LOS rate: -5.676265 deg/s, posRepo size: 4
2021-08-13T00:09:23.268Z,1628813363.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1126.80 m. Resuming terminal guidance.
2021-08-13T00:09:23.268Z,1628813363.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:09:25.644Z,1628813365.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:26.001Z,1628813366.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:26.001Z,1628813366.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:26.001Z,1628813366.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:26.002Z,1628813366.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:26.404Z,1628813366.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,04BCD,185,80,80,71,FF
2021-08-13T00:09:26.405Z,1628813366.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:26.405Z,1628813366.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:26.409Z,1628813366.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:26.810Z,1628813366.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:27.217Z,1628813367.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00699,186,80,80,8B,FF
2021-08-13T00:09:27.217Z,1628813367.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:27.653Z,1628813367.653 [Micromodem](INFO): Nmea in: $SNTTA,0.045738,,,,000927.93*4B

2021-08-13T00:09:27.699Z,1628813367.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 24.563088 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:09:27.700Z,1628813367.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 24.563088deg and heading rate command to 0 deg/s.
2021-08-13T00:09:30.055Z,1628813370.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:30.441Z,1628813370.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:30.442Z,1628813370.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:30.442Z,1628813370.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:30.443Z,1628813370.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:30.857Z,1628813370.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00699,186,80,80,8B,FF
2021-08-13T00:09:30.857Z,1628813370.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:30.858Z,1628813370.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:30.865Z,1628813370.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:31.261Z,1628813371.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:31.661Z,1628813371.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,006CB,186,80,80,82,FF
2021-08-13T00:09:31.661Z,1628813371.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:32.081Z,1628813372.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000932.39*5C

2021-08-13T00:09:32.165Z,1628813372.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.840004 m, bearing: 47.720049 deg, deltaT: 4.395026 s, approachRate: 0.682590 m/s, LOS rate: 5.268902 deg/s, posRepo size: 2
2021-08-13T00:09:32.173Z,1628813372.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.840004 m,
      bearing: 47.720049 deg,
      approachRate: 0.682590 m/s,
      LOS rate: 5.268902 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.563088 deg,
      new cmd heading: 24.563088 deg.

2021-08-13T00:09:34.513Z,1628813374.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:34.917Z,1628813374.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:34.917Z,1628813374.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:34.917Z,1628813374.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:34.918Z,1628813374.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:35.285Z,1628813375.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,006CB,186,80,80,82,FF
2021-08-13T00:09:35.285Z,1628813375.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:35.285Z,1628813375.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:35.287Z,1628813375.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:35.696Z,1628813375.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:36.101Z,1628813376.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,006F7,186,80,80,91,FF
2021-08-13T00:09:36.102Z,1628813376.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:36.541Z,1628813376.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000936.81*5B

2021-08-13T00:09:36.571Z,1628813376.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 34.093320 deg, deltaT: 4.461224 s, approachRate: 0.591764 m/s, LOS rate: -3.054482 deg/s, posRepo size: 3
2021-08-13T00:09:36.573Z,1628813376.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 34.093320 deg,
      approachRate: 0.591764 m/s,
      LOS rate: -3.054482 deg/s,
      cmd update: -9.163447 deg/s,
      cmd heading: 78.107149 deg,
      new cmd heading: 82.959601 deg.

2021-08-13T00:09:38.996Z,1628813378.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:39.329Z,1628813379.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:39.330Z,1628813379.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:39.330Z,1628813379.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:39.331Z,1628813379.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:39.740Z,1628813379.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,006F7,186,80,80,91,FF
2021-08-13T00:09:39.741Z,1628813379.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:39.741Z,1628813379.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:39.742Z,1628813379.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:40.172Z,1628813380.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:40.537Z,1628813380.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,0072B,186,80,80,46,FF
2021-08-13T00:09:40.538Z,1628813380.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:40.981Z,1628813380.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000941.27*57

2021-08-13T00:09:41.028Z,1628813381.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 29.487354 deg, deltaT: 4.379400 s, approachRate: 0.712427 m/s, LOS rate: -1.051734 deg/s, posRepo size: 4
2021-08-13T00:09:41.030Z,1628813381.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 29.487354 deg,
      approachRate: 0.712427 m/s,
      LOS rate: -1.051734 deg/s,
      cmd update: -3.155203 deg/s,
      cmd heading: 37.901693 deg,
      new cmd heading: 33.565385 deg.

2021-08-13T00:09:43.413Z,1628813383.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:43.775Z,1628813383.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:43.775Z,1628813383.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:43.775Z,1628813383.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:43.776Z,1628813383.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:44.205Z,1628813384.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,0072B,186,80,80,46,FF
2021-08-13T00:09:44.205Z,1628813384.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:44.205Z,1628813384.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:44.207Z,1628813384.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:44.577Z,1628813384.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:44.987Z,1628813384.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,0075A,187,80,80,7A,FF
2021-08-13T00:09:44.987Z,1628813384.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:44.991Z,1628813384.991 [Micromodem](INFO): Nmea in: $SNTTA,0.076832,0.108520,,,000945.73*54

2021-08-13T00:09:45.427Z,1628813385.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 63.617126 deg, deltaT: 4.487439 s, approachRate: 0.628422 m/s, LOS rate: 7.605624 deg/s, posRepo size: 4
2021-08-13T00:09:45.430Z,1628813385.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.420006 m,
      bearing: 63.617126 deg,
      approachRate: 0.628422 m/s,
      LOS rate: 7.605624 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 23.793589 deg,
      new cmd heading: 22.527302 deg.

2021-08-13T00:09:47.827Z,1628813387.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:48.217Z,1628813388.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:48.217Z,1628813388.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:48.217Z,1628813388.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:48.218Z,1628813388.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:48.625Z,1628813388.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,0075A,187,80,80,7A,FF
2021-08-13T00:09:48.625Z,1628813388.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:48.625Z,1628813388.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:48.627Z,1628813388.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:49.024Z,1628813389.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:49.421Z,1628813389.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,00782,186,80,80,97,FF
2021-08-13T00:09:49.422Z,1628813389.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:49.874Z,1628813389.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,000950.15*56

2021-08-13T00:09:49.916Z,1628813389.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.820000 m, bearing: 47.265333 deg, deltaT: 4.447462 s, approachRate: 0.539632 m/s, LOS rate: -3.676658 deg/s, posRepo size: 4
2021-08-13T00:09:49.918Z,1628813389.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.820000 m,
      bearing: 47.265333 deg,
      approachRate: 0.539632 m/s,
      LOS rate: -3.676658 deg/s,
      cmd update: -11.029973 deg/s,
      cmd heading: 77.253158 deg,
      new cmd heading: 82.232546 deg.

2021-08-13T00:09:52.293Z,1628813392.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:52.657Z,1628813392.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:52.657Z,1628813392.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:52.657Z,1628813392.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:52.658Z,1628813392.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:53.065Z,1628813393.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,00782,186,80,80,97,FF
2021-08-13T00:09:53.065Z,1628813393.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:53.065Z,1628813393.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:53.067Z,1628813393.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:53.474Z,1628813393.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:53.870Z,1628813393.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,007AC,186,80,80,8A,FF
2021-08-13T00:09:53.871Z,1628813393.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:54.317Z,1628813394.317 [Micromodem](INFO): Nmea in: $SNTTA,0.066378,,,,000954.59*48

2021-08-13T00:09:54.347Z,1628813394.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 15.006238 deg, deltaT: 4.432193 s, approachRate: 0.568568 m/s, LOS rate: -7.278359 deg/s, posRepo size: 4
2021-08-13T00:09:54.380Z,1628813394.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 15.006238 deg,
      approachRate: 0.568568 m/s,
      LOS rate: -7.278359 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 28.315298 deg,
      new cmd heading: 23.575145 deg.

2021-08-13T00:09:56.726Z,1628813396.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:09:57.130Z,1628813397.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:09:57.131Z,1628813397.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:09:57.131Z,1628813397.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:09:57.132Z,1628813397.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:09:57.509Z,1628813397.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,007AC,186,80,80,8A,FF
2021-08-13T00:09:57.509Z,1628813397.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:09:57.509Z,1628813397.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:09:57.511Z,1628813397.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:09:57.925Z,1628813397.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:09:58.313Z,1628813398.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,007D7,186,80,80,8A,FF
2021-08-13T00:09:58.313Z,1628813398.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:09:58.753Z,1628813398.753 [Micromodem](INFO): Nmea in: $SNTTA,0.054749,,,,000959.04*4A

2021-08-13T00:09:58.812Z,1628813398.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 62.493642 deg, deltaT: 4.418420 s, approachRate: 0.583918 m/s, LOS rate: 10.747598 deg/s, posRepo size: 4
2021-08-13T00:09:58.814Z,1628813398.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.919998 m,
      bearing: 62.493642 deg,
      approachRate: 0.583918 m/s,
      LOS rate: 10.747598 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 335.246064 deg,
      new cmd heading: 329.634480 deg.

2021-08-13T00:10:01.242Z,1628813401.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:01.541Z,1628813401.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:01.541Z,1628813401.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:01.542Z,1628813401.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:01.543Z,1628813401.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:01.955Z,1628813401.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,007D7,186,80,80,8A,FF
2021-08-13T00:10:01.955Z,1628813401.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:01.955Z,1628813401.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:01.957Z,1628813401.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:02.365Z,1628813402.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:02.766Z,1628813402.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,00805,186,80,80,A3,FF
2021-08-13T00:10:02.766Z,1628813402.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:03.205Z,1628813403.205 [Micromodem](INFO): Nmea in: $SNTTA,0.395004,,,,001003.48*45

2021-08-13T00:10:03.288Z,1628813403.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 47.469699 deg, deltaT: 4.466820 s, approachRate: 0.617891 m/s, LOS rate: -3.363454 deg/s, posRepo size: 4
2021-08-13T00:10:03.290Z,1628813403.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.680008 m,
      bearing: 47.469699 deg,
      approachRate: 0.617891 m/s,
      LOS rate: -3.363454 deg/s,
      cmd update: -10.090362 deg/s,
      cmd heading: 28.606933 deg,
      new cmd heading: 34.570945 deg.

2021-08-13T00:10:05.607Z,1628813405.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:05.989Z,1628813405.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:05.989Z,1628813405.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:05.989Z,1628813405.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:05.990Z,1628813405.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:06.405Z,1628813406.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,00805,186,80,80,A3,FF
2021-08-13T00:10:06.405Z,1628813406.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:06.405Z,1628813406.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:06.407Z,1628813406.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:06.809Z,1628813406.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:07.213Z,1628813407.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00833,186,80,80,8B,FF
2021-08-13T00:10:07.213Z,1628813407.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:07.646Z,1628813407.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001007.93*52

2021-08-13T00:10:07.667Z,1628813407.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 5.994016 deg, deltaT: 4.491709 s, approachRate: 0.614463 m/s, LOS rate: -9.233831 deg/s, posRepo size: 4
2021-08-13T00:10:07.670Z,1628813407.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.439995 m,
      bearing: 5.994016 deg,
      approachRate: 0.614463 m/s,
      LOS rate: -9.233831 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 343.080913 deg,
      new cmd heading: 339.361172 deg.

2021-08-13T00:10:10.047Z,1628813410.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:10.445Z,1628813410.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:10.445Z,1628813410.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:10.445Z,1628813410.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:10.446Z,1628813410.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:10.849Z,1628813410.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,00833,186,80,80,8B,FF
2021-08-13T00:10:10.849Z,1628813410.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:10.850Z,1628813410.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:10.857Z,1628813410.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:11.253Z,1628813411.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:11.649Z,1628813411.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAA,000,0086A,187,80,80,2E,FF
2021-08-13T00:10:11.649Z,1628813411.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:12.103Z,1628813412.103 [Micromodem](INFO): Nmea in: $SNTTA,0.489617,,,,001012.38*4C

2021-08-13T00:10:12.160Z,1628813412.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 20.488329 deg, deltaT: 4.367407 s, approachRate: 0.755598 m/s, LOS rate: 3.318746 deg/s, posRepo size: 4
2021-08-13T00:10:12.162Z,1628813412.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 20.488329 deg,
      approachRate: 0.755598 m/s,
      LOS rate: 3.318746 deg/s,
      cmd update: 9.956237 deg/s,
      cmd heading: 290.672580 deg,
      new cmd heading: 284.983944 deg.

2021-08-13T00:10:14.520Z,1628813414.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:14.941Z,1628813414.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:14.941Z,1628813414.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:14.941Z,1628813414.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:14.942Z,1628813414.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:15.298Z,1628813415.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAA,000,0086A,187,80,80,2E,FF
2021-08-13T00:10:15.298Z,1628813415.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:15.298Z,1628813415.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:15.301Z,1628813415.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:15.692Z,1628813415.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:16.105Z,1628813416.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,338,000,0088A,188,80,80,AB,FF
2021-08-13T00:10:16.106Z,1628813416.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:16.525Z,1628813416.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001016.83*53

2021-08-13T00:10:16.565Z,1628813416.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.660004 m, bearing: 305.316423 deg, deltaT: 4.504260 s, approachRate: 0.426264 m/s, LOS rate: -16.689069 deg/s, posRepo size: 4
2021-08-13T00:10:16.566Z,1628813416.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.689069 deg/s. Setting heading cmd to target bearing of 305.316423deg and heading rate command to 0 deg/s.
2021-08-13T00:10:18.995Z,1628813418.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:19.338Z,1628813419.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:19.338Z,1628813419.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:19.338Z,1628813419.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:19.339Z,1628813419.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:19.725Z,1628813419.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
338,000,0088A,188,80,80,AB,FF
2021-08-13T00:10:19.726Z,1628813419.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:19.726Z,1628813419.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:19.754Z,1628813419.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:20.176Z,1628813420.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:20.984Z,1628813420.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001021.28*56

2021-08-13T00:10:21.806Z,1628813421.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:23.366Z,1628813423.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,AB,FF
2021-08-13T00:10:23.367Z,1628813423.367 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,AB,FF
2021-08-13T00:10:23.367Z,1628813423.367 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:10:24.607Z,1628813424.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:24.993Z,1628813424.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:24.993Z,1628813424.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:24.993Z,1628813424.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:24.994Z,1628813424.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:25.397Z,1628813425.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,AB,FF
2021-08-13T00:10:25.397Z,1628813425.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:25.397Z,1628813425.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:25.399Z,1628813425.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:25.804Z,1628813425.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:26.205Z,1628813426.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,008C2,187,80,80,9B,FF
2021-08-13T00:10:26.206Z,1628813426.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:26.642Z,1628813426.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001026.93*51

2021-08-13T00:10:26.700Z,1628813426.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.020004 m, bearing: 281.363332 deg, deltaT: 10.098564 s, approachRate: 0.332721 m/s, LOS rate: -2.371930 deg/s, posRepo size: 4
2021-08-13T00:10:26.702Z,1628813426.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.020004 m,
      bearing: 281.363332 deg,
      approachRate: 0.332721 m/s,
      LOS rate: -2.371930 deg/s,
      cmd update: -7.115791 deg/s,
      cmd heading: 305.316423 deg,
      new cmd heading: 305.316423 deg.

2021-08-13T00:10:29.088Z,1628813429.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:29.448Z,1628813429.448 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:29.448Z,1628813429.448 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:29.448Z,1628813429.448 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:29.449Z,1628813429.449 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:29.842Z,1628813429.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,008C2,187,80,80,9B,FF
2021-08-13T00:10:29.842Z,1628813429.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:29.843Z,1628813429.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:29.845Z,1628813429.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:30.248Z,1628813430.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:30.649Z,1628813430.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,008D8,187,80,80,38,FF
2021-08-13T00:10:30.649Z,1628813430.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:31.097Z,1628813431.097 [Micromodem](INFO): Nmea in: $SNTTA,0.081465,,,,001031.37*49

2021-08-13T00:10:31.185Z,1628813431.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.339996 m, bearing: 278.423127 deg, deltaT: 4.435926 s, approachRate: 0.297569 m/s, LOS rate: -0.662817 deg/s, posRepo size: 4
2021-08-13T00:10:31.187Z,1628813431.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 278.423127 deg,
      approachRate: 0.297569 m/s,
      LOS rate: -0.662817 deg/s,
      cmd update: -1.988450 deg/s,
      cmd heading: 273.821951 deg,
      new cmd heading: 270.276672 deg.

2021-08-13T00:10:33.224Z,1628813433.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:33.481Z,1628813433.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:33.481Z,1628813433.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:33.481Z,1628813433.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:33.482Z,1628813433.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:33.886Z,1628813433.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,008D8,187,80,80,38,FF
2021-08-13T00:10:33.886Z,1628813433.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:33.886Z,1628813433.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:33.888Z,1628813433.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:34.284Z,1628813434.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:34.695Z,1628813434.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008D6,189,80,80,9A,FF
2021-08-13T00:10:34.695Z,1628813434.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:35.141Z,1628813435.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001035.42*5F

2021-08-13T00:10:35.197Z,1628813435.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.220001 m, bearing: 222.463933 deg, deltaT: 4.010731 s, approachRate: -0.029919 m/s, LOS rate: -13.952368 deg/s, posRepo size: 4
2021-08-13T00:10:35.198Z,1628813435.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.952368 deg/s. Setting heading cmd to target bearing of 222.463933deg and heading rate command to 0 deg/s.
2021-08-13T00:10:37.541Z,1628813437.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:37.929Z,1628813437.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:37.930Z,1628813437.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:37.930Z,1628813437.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:37.931Z,1628813437.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:38.329Z,1628813438.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008D6,189,80,80,9A,FF
2021-08-13T00:10:38.329Z,1628813438.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:38.330Z,1628813438.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:38.331Z,1628813438.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:38.732Z,1628813438.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:39.145Z,1628813439.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008D2,189,80,80,96,FF
2021-08-13T00:10:39.145Z,1628813439.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:39.573Z,1628813439.573 [Micromodem](INFO): Nmea in: $SNTTA,0.209824,,,,001039.86*40

2021-08-13T00:10:39.613Z,1628813439.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 203.965363 deg, deltaT: 4.534754 s, approachRate: -0.052924 m/s, LOS rate: -4.079289 deg/s, posRepo size: 4
2021-08-13T00:10:39.615Z,1628813439.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 203.965363 deg,
      approachRate: -0.052924 m/s,
      LOS rate: -4.079289 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 222.463933 deg,
      new cmd heading: 222.463933 deg.

2021-08-13T00:10:41.986Z,1628813441.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:42.369Z,1628813442.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:42.369Z,1628813442.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:42.369Z,1628813442.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:42.370Z,1628813442.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:42.765Z,1628813442.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008D2,189,80,80,96,FF
2021-08-13T00:10:42.765Z,1628813442.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:42.765Z,1628813442.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:42.767Z,1628813442.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:43.181Z,1628813443.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:43.579Z,1628813443.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008C5,189,80,80,C5,FF
2021-08-13T00:10:43.579Z,1628813443.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:44.025Z,1628813444.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001044.29*54

2021-08-13T00:10:44.055Z,1628813444.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 184.694066 deg, deltaT: 4.345908 s, approachRate: -0.179479 m/s, LOS rate: -4.434354 deg/s, posRepo size: 4
2021-08-13T00:10:44.058Z,1628813444.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.200005 m,
      bearing: 184.694066 deg,
      approachRate: -0.179479 m/s,
      LOS rate: -4.434354 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.265300 deg,
      new cmd heading: 164.754876 deg.

2021-08-13T00:10:46.430Z,1628813446.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:46.801Z,1628813446.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:46.801Z,1628813446.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:46.801Z,1628813446.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:46.802Z,1628813446.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:47.217Z,1628813447.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008C5,189,80,80,C5,FF
2021-08-13T00:10:47.217Z,1628813447.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:47.217Z,1628813447.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:47.219Z,1628813447.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:47.616Z,1628813447.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:48.029Z,1628813448.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F9,000,008AB,188,80,80,B2,FF
2021-08-13T00:10:48.029Z,1628813448.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:48.457Z,1628813448.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001048.74*50

2021-08-13T00:10:48.494Z,1628813448.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.640007 m, bearing: 180.809997 deg, deltaT: 4.469675 s, approachRate: -0.349018 m/s, LOS rate: -0.868982 deg/s, posRepo size: 4
2021-08-13T00:10:48.496Z,1628813448.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.640007 m,
      bearing: 180.809997 deg,
      approachRate: -0.349018 m/s,
      LOS rate: -0.868982 deg/s,
      cmd update: -2.606947 deg/s,
      cmd heading: 116.869702 deg,
      new cmd heading: 111.492070 deg.

2021-08-13T00:10:50.929Z,1628813450.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:51.249Z,1628813451.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:51.249Z,1628813451.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:51.249Z,1628813451.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:51.250Z,1628813451.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:51.661Z,1628813451.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F9,000,008AB,188,80,80,B2,FF
2021-08-13T00:10:51.661Z,1628813451.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:51.661Z,1628813451.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:51.663Z,1628813451.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:52.069Z,1628813452.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:52.469Z,1628813452.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,00886,189,80,80,9A,FF
2021-08-13T00:10:52.469Z,1628813452.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:52.929Z,1628813452.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001053.19*51

2021-08-13T00:10:52.991Z,1628813452.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.419998 m, bearing: 173.205784 deg, deltaT: 4.458738 s, approachRate: -0.497901 m/s, LOS rate: -1.705463 deg/s, posRepo size: 4
2021-08-13T00:10:53.002Z,1628813453.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.419998 m,
      bearing: 173.205784 deg,
      approachRate: -0.497901 m/s,
      LOS rate: -1.705463 deg/s,
      cmd update: -5.116390 deg/s,
      cmd heading: 105.215138 deg,
      new cmd heading: 103.977474 deg.

2021-08-13T00:10:55.327Z,1628813455.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:10:55.697Z,1628813455.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:10:55.697Z,1628813455.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:10:55.698Z,1628813455.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:10:55.699Z,1628813455.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:10:56.117Z,1628813456.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,00886,189,80,80,9A,FF
2021-08-13T00:10:56.118Z,1628813456.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:10:56.118Z,1628813456.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:10:56.125Z,1628813456.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:10:56.509Z,1628813456.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:10:56.938Z,1628813456.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,00853,186,80,80,72,FF
2021-08-13T00:10:56.938Z,1628813456.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:10:56.941Z,1628813456.941 [Micromodem](INFO): Nmea in: $SNTTA,0.070158,0.271426,,,001057.65*51

2021-08-13T00:10:57.368Z,1628813457.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 177.073091 deg, deltaT: 4.451620 s, approachRate: -0.687390 m/s, LOS rate: 0.868742 deg/s, posRepo size: 4
2021-08-13T00:10:57.370Z,1628813457.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 177.073091 deg,
      approachRate: -0.687390 m/s,
      LOS rate: 0.868742 deg/s,
      cmd update: 2.606225 deg/s,
      cmd heading: 82.397416 deg,
      new cmd heading: 80.393848 deg.

2021-08-13T00:10:59.767Z,1628813459.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:00.172Z,1628813460.172 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:00.172Z,1628813460.172 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:00.173Z,1628813460.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:00.174Z,1628813460.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:00.541Z,1628813460.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,00853,186,80,80,72,FF
2021-08-13T00:11:00.541Z,1628813460.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:00.541Z,1628813460.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:00.543Z,1628813460.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:00.964Z,1628813460.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:01.354Z,1628813461.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00823,182,80,80,B5,FF
2021-08-13T00:11:01.354Z,1628813461.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:01.785Z,1628813461.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001102.07*5B

2021-08-13T00:11:01.820Z,1628813461.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 182.588975 deg, deltaT: 4.425031 s, approachRate: -0.650842 m/s, LOS rate: 1.246519 deg/s, posRepo size: 4
2021-08-13T00:11:01.822Z,1628813461.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 182.588975 deg,
      approachRate: -0.650842 m/s,
      LOS rate: 1.246519 deg/s,
      cmd update: 3.739556 deg/s,
      cmd heading: 93.876973 deg,
      new cmd heading: 95.021184 deg.

2021-08-13T00:11:04.243Z,1628813464.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:04.585Z,1628813464.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:04.585Z,1628813464.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:04.585Z,1628813464.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:04.586Z,1628813464.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:04.985Z,1628813464.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00823,182,80,80,B5,FF
2021-08-13T00:11:04.985Z,1628813464.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:04.985Z,1628813464.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:04.987Z,1628813464.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:05.189Z,1628813465.189 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:11:05.397Z,1628813465.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:05.793Z,1628813465.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,001BF,187,80,80,8F,FF
2021-08-13T00:11:05.794Z,1628813465.794 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T00:11:06.233Z,1628813466.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001106.51*5C

2021-08-13T00:11:07.090Z,1628813467.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:09.889Z,1628813469.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:10.229Z,1628813470.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:10.229Z,1628813470.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:10.229Z,1628813470.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:10.230Z,1628813470.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:10.649Z,1628813470.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,001BF,187,80,80,8F,FF
2021-08-13T00:11:10.649Z,1628813470.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:10.649Z,1628813470.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:10.651Z,1628813470.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:11.045Z,1628813471.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:11.863Z,1628813471.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001112.18*54

2021-08-13T00:11:12.700Z,1628813472.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:14.293Z,1628813474.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,8F,FF
2021-08-13T00:11:14.293Z,1628813474.293 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,8F,FF
2021-08-13T00:11:14.293Z,1628813474.293 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:11:15.229Z,1628813475.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:15.498Z,1628813475.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:15.498Z,1628813475.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:15.498Z,1628813475.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:15.499Z,1628813475.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:15.905Z,1628813475.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,8F,FF
2021-08-13T00:11:15.905Z,1628813475.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:15.906Z,1628813475.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:15.907Z,1628813475.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:16.310Z,1628813476.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:16.342Z,1628813476.342 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:11:16.697Z,1628813476.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B9D,000,00798,189,80,80,7D,FF
2021-08-13T00:11:16.697Z,1628813476.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:17.177Z,1628813477.177 [Micromodem](INFO): Nmea in: $SNTTA,,0.380788,,,001117.43*4D

2021-08-13T00:11:17.246Z,1628813477.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 189.829098 deg, deltaT: 15.313007 s, approachRate: -0.544635 m/s, LOS rate: 0.472809 deg/s, posRepo size: 4
2021-08-13T00:11:17.249Z,1628813477.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.140007 m,
      bearing: 189.829098 deg,
      approachRate: -0.544635 m/s,
      LOS rate: 0.472809 deg/s,
      cmd update: 1.418426 deg/s,
      cmd heading: 151.217228 deg,
      new cmd heading: 153.207416 deg.

2021-08-13T00:11:19.170Z,1628813479.170 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:11:19.587Z,1628813479.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:19.938Z,1628813479.938 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:19.938Z,1628813479.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:19.938Z,1628813479.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:19.939Z,1628813479.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:20.351Z,1628813480.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B9D,000,00798,189,80,80,7D,FF
2021-08-13T00:11:20.351Z,1628813480.351 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:20.351Z,1628813480.351 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:20.356Z,1628813480.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:20.753Z,1628813480.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:21.578Z,1628813481.578 [Micromodem](INFO): Nmea in: $SNTTA,0.196732,,,,001121.88*4B

2021-08-13T00:11:22.408Z,1628813482.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:23.981Z,1628813483.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,7D,FF
2021-08-13T00:11:23.981Z,1628813483.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,7D,FF
2021-08-13T00:11:23.981Z,1628813483.981 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:11:25.281Z,1628813485.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:25.593Z,1628813485.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:25.593Z,1628813485.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:25.593Z,1628813485.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:25.594Z,1628813485.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:26.001Z,1628813486.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,7D,FF
2021-08-13T00:11:26.002Z,1628813486.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:26.002Z,1628813486.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:26.003Z,1628813486.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:26.404Z,1628813486.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:26.811Z,1628813486.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,00738,188,80,80,A9,FF
2021-08-13T00:11:26.811Z,1628813486.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:27.245Z,1628813487.245 [Micromodem](INFO): Nmea in: $SNTTA,0.373942,0.372349,,,001127.53*5D

2021-08-13T00:11:27.319Z,1628813487.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.379997 m, bearing: 134.421948 deg, deltaT: 10.181262 s, approachRate: -0.565746 m/s, LOS rate: -5.442071 deg/s, posRepo size: 4
2021-08-13T00:11:27.326Z,1628813487.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.379997 m,
      bearing: 134.421948 deg,
      approachRate: -0.565746 m/s,
      LOS rate: -5.442071 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.582175 deg,
      new cmd heading: 166.259060 deg.

2021-08-13T00:11:29.662Z,1628813489.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:30.037Z,1628813490.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:30.037Z,1628813490.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:30.037Z,1628813490.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:30.038Z,1628813490.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:30.451Z,1628813490.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,00738,188,80,80,A9,FF
2021-08-13T00:11:30.451Z,1628813490.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:30.452Z,1628813490.452 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:30.453Z,1628813490.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:30.886Z,1628813490.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:31.249Z,1628813491.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D84,000,0070B,189,80,80,AC,FF
2021-08-13T00:11:31.250Z,1628813491.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:31.693Z,1628813491.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001131.98*5D

2021-08-13T00:11:31.731Z,1628813491.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.680008 m, bearing: 195.655099 deg, deltaT: 4.381505 s, approachRate: -0.616224 m/s, LOS rate: 13.975370 deg/s, posRepo size: 4
2021-08-13T00:11:31.733Z,1628813491.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.975370 deg/s. Setting heading cmd to target bearing of 195.655099deg and heading rate command to 0 deg/s.
2021-08-13T00:11:34.148Z,1628813494.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:34.489Z,1628813494.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:34.489Z,1628813494.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:34.489Z,1628813494.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:34.490Z,1628813494.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:34.944Z,1628813494.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D84,000,0070B,189,80,80,AC,FF
2021-08-13T00:11:34.944Z,1628813494.944 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:34.945Z,1628813494.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:34.946Z,1628813494.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:35.343Z,1628813495.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:35.733Z,1628813495.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C4C,000,006E0,189,80,80,94,FF
2021-08-13T00:11:35.733Z,1628813495.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:36.193Z,1628813496.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001136.47*58

2021-08-13T00:11:36.260Z,1628813496.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 193.467827 deg, deltaT: 4.512771 s, approachRate: -0.571713 m/s, LOS rate: -0.484685 deg/s, posRepo size: 4
2021-08-13T00:11:36.262Z,1628813496.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.099998 m,
      bearing: 193.467827 deg,
      approachRate: -0.571713 m/s,
      LOS rate: -0.484685 deg/s,
      cmd update: -1.454055 deg/s,
      cmd heading: 195.655099 deg,
      new cmd heading: 195.655099 deg.

2021-08-13T00:11:38.590Z,1628813498.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:38.965Z,1628813498.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:38.965Z,1628813498.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:38.965Z,1628813498.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:38.966Z,1628813498.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:39.369Z,1628813499.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C4C,000,006E0,189,80,80,94,FF
2021-08-13T00:11:39.369Z,1628813499.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:39.370Z,1628813499.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:39.371Z,1628813499.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:39.788Z,1628813499.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:40.185Z,1628813500.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B97,000,006BB,18A,80,80,A4,FF
2021-08-13T00:11:40.186Z,1628813500.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:40.622Z,1628813500.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001140.89*5B

2021-08-13T00:11:40.649Z,1628813500.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 193.901038 deg, deltaT: 4.446967 s, approachRate: -0.499215 m/s, LOS rate: 0.097417 deg/s, posRepo size: 4
2021-08-13T00:11:40.651Z,1628813500.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.880005 m,
      bearing: 193.901038 deg,
      approachRate: -0.499215 m/s,
      LOS rate: 0.097417 deg/s,
      cmd update: 0.292252 deg/s,
      cmd heading: 189.173455 deg,
      new cmd heading: 188.574024 deg.

2021-08-13T00:11:43.062Z,1628813503.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:43.409Z,1628813503.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:43.409Z,1628813503.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:43.409Z,1628813503.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:43.410Z,1628813503.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:43.821Z,1628813503.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B97,000,006BB,18A,80,80,A4,FF
2021-08-13T00:11:43.821Z,1628813503.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:43.821Z,1628813503.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:43.823Z,1628813503.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:44.220Z,1628813504.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:44.629Z,1628813504.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D58,000,0069A,189,80,80,A7,FF
2021-08-13T00:11:44.630Z,1628813504.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:45.069Z,1628813505.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001145.35*59

2021-08-13T00:11:45.187Z,1628813505.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 185.450236 deg, deltaT: 4.414141 s, approachRate: -0.448560 m/s, LOS rate: -1.914484 deg/s, posRepo size: 4
2021-08-13T00:11:45.194Z,1628813505.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 185.450236 deg,
      approachRate: -0.448560 m/s,
      LOS rate: -1.914484 deg/s,
      cmd update: -5.743451 deg/s,
      cmd heading: 190.463551 deg,
      new cmd heading: 190.620313 deg.

2021-08-13T00:11:47.156Z,1628813507.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:47.454Z,1628813507.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:47.454Z,1628813507.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:47.455Z,1628813507.455 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:47.456Z,1628813507.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:47.854Z,1628813507.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D58,000,0069A,189,80,80,A7,FF
2021-08-13T00:11:47.854Z,1628813507.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:47.854Z,1628813507.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:47.873Z,1628813507.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:48.268Z,1628813508.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:48.665Z,1628813508.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,00672,189,80,80,A1,FF
2021-08-13T00:11:48.666Z,1628813508.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:49.109Z,1628813509.109 [Micromodem](INFO): Nmea in: $SNTTA,0.074655,,,,001149.40*4C

2021-08-13T00:11:49.217Z,1628813509.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 203.583337 deg, deltaT: 4.031911 s, approachRate: -0.595251 m/s, LOS rate: 4.497396 deg/s, posRepo size: 4
2021-08-13T00:11:49.219Z,1628813509.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.500000 m,
      bearing: 203.583337 deg,
      approachRate: -0.595251 m/s,
      LOS rate: 4.497396 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.306604 deg,
      new cmd heading: 164.265722 deg.

2021-08-13T00:11:51.197Z,1628813511.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:51.498Z,1628813511.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:51.498Z,1628813511.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:51.498Z,1628813511.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:51.499Z,1628813511.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:51.901Z,1628813511.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,00672,189,80,80,A1,FF
2021-08-13T00:11:51.902Z,1628813511.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:51.902Z,1628813511.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:51.903Z,1628813511.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:52.312Z,1628813512.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:52.701Z,1628813512.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00644,186,80,80,82,FF
2021-08-13T00:11:52.701Z,1628813512.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:53.153Z,1628813513.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001153.43*5F

2021-08-13T00:11:53.218Z,1628813513.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 200.333410 deg, deltaT: 4.067294 s, approachRate: -0.678584 m/s, LOS rate: -0.799039 deg/s, posRepo size: 4
2021-08-13T00:11:53.221Z,1628813513.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.739998 m,
      bearing: 200.333410 deg,
      approachRate: -0.678584 m/s,
      LOS rate: -0.799039 deg/s,
      cmd update: -2.397117 deg/s,
      cmd heading: 216.066122 deg,
      new cmd heading: 221.726786 deg.

2021-08-13T00:11:55.547Z,1628813515.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:11:55.942Z,1628813515.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:11:55.942Z,1628813515.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:11:55.943Z,1628813515.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:11:55.944Z,1628813515.944 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:11:56.349Z,1628813516.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00644,186,80,80,82,FF
2021-08-13T00:11:56.349Z,1628813516.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:11:56.349Z,1628813516.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:11:56.351Z,1628813516.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:11:56.749Z,1628813516.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:11:57.169Z,1628813517.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00613,187,80,80,CA,FF
2021-08-13T00:11:57.169Z,1628813517.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:11:57.577Z,1628813517.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001157.87*53

2021-08-13T00:11:57.622Z,1628813517.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.799995 m, bearing: 198.174305 deg, deltaT: 4.502939 s, approachRate: -0.652907 m/s, LOS rate: -0.479488 deg/s, posRepo size: 4
2021-08-13T00:11:57.625Z,1628813517.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.799995 m,
      bearing: 198.174305 deg,
      approachRate: -0.652907 m/s,
      LOS rate: -0.479488 deg/s,
      cmd update: -1.438464 deg/s,
      cmd heading: 205.272576 deg,
      new cmd heading: 204.377252 deg.

2021-08-13T00:11:59.991Z,1628813519.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:00.385Z,1628813520.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:00.385Z,1628813520.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:00.385Z,1628813520.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:00.386Z,1628813520.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:00.789Z,1628813520.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00613,187,80,80,CA,FF
2021-08-13T00:12:00.789Z,1628813520.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:00.789Z,1628813520.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:00.791Z,1628813520.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:01.196Z,1628813521.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:01.595Z,1628813521.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,005E1,186,80,80,AD,FF
2021-08-13T00:12:01.595Z,1628813521.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:02.025Z,1628813522.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001202.31*5D

2021-08-13T00:12:02.047Z,1628813522.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 196.014954 deg, deltaT: 4.359349 s, approachRate: -0.688175 m/s, LOS rate: -0.495338 deg/s, posRepo size: 4
2021-08-13T00:12:02.071Z,1628813522.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.799999 m,
      bearing: 196.014954 deg,
      approachRate: -0.688175 m/s,
      LOS rate: -0.495338 deg/s,
      cmd update: -1.486014 deg/s,
      cmd heading: 198.995639 deg,
      new cmd heading: 198.370114 deg.

2021-08-13T00:12:04.465Z,1628813524.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:04.829Z,1628813524.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:04.829Z,1628813524.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:04.829Z,1628813524.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:04.830Z,1628813524.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:05.229Z,1628813525.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,005E1,186,80,80,AD,FF
2021-08-13T00:12:05.229Z,1628813525.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:05.230Z,1628813525.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:05.231Z,1628813525.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:05.633Z,1628813525.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:06.033Z,1628813526.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,005AE,186,80,80,A6,FF
2021-08-13T00:12:06.033Z,1628813526.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:06.477Z,1628813526.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001206.75*59

2021-08-13T00:12:06.515Z,1628813526.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 193.945243 deg, deltaT: 4.438011 s, approachRate: -0.689498 m/s, LOS rate: -0.466360 deg/s, posRepo size: 4
2021-08-13T00:12:06.518Z,1628813526.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.740002 m,
      bearing: 193.945243 deg,
      approachRate: -0.689498 m/s,
      LOS rate: -0.466360 deg/s,
      cmd update: -1.399080 deg/s,
      cmd heading: 192.400712 deg,
      new cmd heading: 191.709724 deg.

2021-08-13T00:12:08.920Z,1628813528.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:09.267Z,1628813529.267 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:09.269Z,1628813529.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:09.270Z,1628813529.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:09.287Z,1628813529.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:09.677Z,1628813529.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,005AE,186,80,80,A6,FF
2021-08-13T00:12:09.677Z,1628813529.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:09.678Z,1628813529.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:09.679Z,1628813529.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:10.081Z,1628813530.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:10.481Z,1628813530.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,0057C,185,80,80,78,FF
2021-08-13T00:12:10.481Z,1628813530.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:10.941Z,1628813530.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001211.21*5E

2021-08-13T00:12:11.012Z,1628813531.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 196.053490 deg, deltaT: 4.482634 s, approachRate: -0.669250 m/s, LOS rate: 0.470314 deg/s, posRepo size: 4
2021-08-13T00:12:11.018Z,1628813531.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.739998 m,
      bearing: 196.053490 deg,
      approachRate: -0.669250 m/s,
      LOS rate: 0.470314 deg/s,
      cmd update: 1.410943 deg/s,
      cmd heading: 186.135039 deg,
      new cmd heading: 185.474900 deg.

2021-08-13T00:12:13.348Z,1628813533.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:13.709Z,1628813533.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:13.709Z,1628813533.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:13.709Z,1628813533.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:13.710Z,1628813533.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:14.133Z,1628813534.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,0057C,185,80,80,78,FF
2021-08-13T00:12:14.133Z,1628813534.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:14.134Z,1628813534.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:14.135Z,1628813534.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:14.532Z,1628813534.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:14.957Z,1628813534.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00541,187,80,80,B0,FF
2021-08-13T00:12:14.958Z,1628813534.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:15.361Z,1628813535.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001215.66*59

2021-08-13T00:12:15.408Z,1628813535.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 197.524645 deg, deltaT: 4.485171 s, approachRate: -0.789267 m/s, LOS rate: 0.328004 deg/s, posRepo size: 4
2021-08-13T00:12:15.410Z,1628813535.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.200001 m,
      bearing: 197.524645 deg,
      approachRate: -0.789267 m/s,
      LOS rate: 0.328004 deg/s,
      cmd update: 0.984012 deg/s,
      cmd heading: 192.469343 deg,
      new cmd heading: 192.996133 deg.

2021-08-13T00:12:17.775Z,1628813537.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:18.177Z,1628813538.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:18.177Z,1628813538.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:18.177Z,1628813538.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:18.178Z,1628813538.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:18.568Z,1628813538.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00541,187,80,80,B0,FF
2021-08-13T00:12:18.568Z,1628813538.568 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:18.569Z,1628813538.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:18.570Z,1628813538.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:18.969Z,1628813538.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:19.373Z,1628813539.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,00509,184,80,80,7A,FF
2021-08-13T00:12:19.373Z,1628813539.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:19.817Z,1628813539.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001220.10*5E

2021-08-13T00:12:19.840Z,1628813539.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 196.203194 deg, deltaT: 4.427525 s, approachRate: -0.758889 m/s, LOS rate: -0.298463 deg/s, posRepo size: 4
2021-08-13T00:12:19.841Z,1628813539.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.84 m.
2021-08-13T00:12:19.865Z,1628813539.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.840000 m,
      bearing: 196.203194 deg,
      approachRate: -0.758889 m/s,
      LOS rate: -0.298463 deg/s,
      cmd update: -0.895388 deg/s,
      cmd heading: 196.817303 deg,
      new cmd heading: 197.213472 deg.

2021-08-13T00:12:20.226Z,1628813540.226 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:12:20.281Z,1628813540.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:12:20.281Z,1628813540.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:12:20.281Z,1628813540.281 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:12:20.282Z,1628813540.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:12:20.282Z,1628813540.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:12:20.282Z,1628813540.282 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:12:20.649Z,1628813540.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:12:20.649Z,1628813540.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:12:20.649Z,1628813540.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:12:20.650Z,1628813540.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:12:22.343Z,1628813542.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:22.605Z,1628813542.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:22.605Z,1628813542.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:22.605Z,1628813542.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:22.606Z,1628813542.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:23.009Z,1628813543.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,00509,184,80,80,7A,FF
2021-08-13T00:12:23.009Z,1628813543.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:23.010Z,1628813543.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:23.013Z,1628813543.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:23.421Z,1628813543.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:23.818Z,1628813543.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,004DA,183,80,80,5A,FF
2021-08-13T00:12:23.818Z,1628813543.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:23.884Z,1628813543.884 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:24.261Z,1628813544.261 [Micromodem](INFO): Nmea in: $SNTTA,0.207547,,,,001224.54*47

2021-08-13T00:12:24.325Z,1628813544.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 198.987576 deg, deltaT: 4.435748 s, approachRate: -0.635745 m/s, LOS rate: 0.627714 deg/s, posRepo size: 4
2021-08-13T00:12:24.325Z,1628813544.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m.
2021-08-13T00:12:24.327Z,1628813544.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.019997 m,
      bearing: 198.987576 deg,
      approachRate: -0.635745 m/s,
      LOS rate: 0.627714 deg/s,
      cmd update: 1.883142 deg/s,
      cmd heading: 192.846065 deg,
      new cmd heading: 192.441697 deg.

2021-08-13T00:12:26.659Z,1628813546.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:27.047Z,1628813547.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:27.047Z,1628813547.047 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:27.048Z,1628813547.048 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:27.049Z,1628813547.049 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:27.445Z,1628813547.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,004DA,183,80,80,5A,FF
2021-08-13T00:12:27.445Z,1628813547.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:27.445Z,1628813547.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:27.447Z,1628813547.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:27.858Z,1628813547.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:28.253Z,1628813548.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,004A9,184,80,80,75,FF
2021-08-13T00:12:28.253Z,1628813548.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:28.284Z,1628813548.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:28.685Z,1628813548.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001228.97*59

2021-08-13T00:12:28.738Z,1628813548.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 199.337910 deg, deltaT: 4.400228 s, approachRate: -0.668147 m/s, LOS rate: 0.079617 deg/s, posRepo size: 4
2021-08-13T00:12:28.739Z,1628813548.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m.
2021-08-13T00:12:28.745Z,1628813548.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.079998 m,
      bearing: 199.337910 deg,
      approachRate: -0.668147 m/s,
      LOS rate: 0.079617 deg/s,
      cmd update: 0.238852 deg/s,
      cmd heading: 201.148451 deg,
      new cmd heading: 202.010148 deg.

2021-08-13T00:12:31.197Z,1628813551.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:31.494Z,1628813551.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:31.494Z,1628813551.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:31.494Z,1628813551.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:31.495Z,1628813551.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:31.897Z,1628813551.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,004A9,184,80,80,75,FF
2021-08-13T00:12:31.897Z,1628813551.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:31.898Z,1628813551.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:31.899Z,1628813551.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:32.301Z,1628813552.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:32.701Z,1628813552.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00470,184,80,80,74,FF
2021-08-13T00:12:32.702Z,1628813552.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:32.723Z,1628813552.723 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:33.177Z,1628813553.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001233.42*5B

2021-08-13T00:12:33.246Z,1628813553.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 196.726442 deg, deltaT: 4.438068 s, approachRate: -0.770606 m/s, LOS rate: -0.588425 deg/s, posRepo size: 4
2021-08-13T00:12:33.246Z,1628813553.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.66 m.
2021-08-13T00:12:33.247Z,1628813553.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.66 m.
2021-08-13T00:12:33.247Z,1628813553.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:12:33.254Z,1628813553.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 196.726442 deg,
      approachRate: -0.770606 m/s,
      LOS rate: -0.588425 deg/s,
      cmd update: -1.765274 deg/s,
      cmd heading: 202.208566 deg,
      new cmd heading: 202.334062 deg.

2021-08-13T00:12:35.241Z,1628813555.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:35.532Z,1628813555.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:35.533Z,1628813555.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:35.533Z,1628813555.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:35.534Z,1628813555.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:35.929Z,1628813555.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00470,184,80,80,74,FF
2021-08-13T00:12:35.929Z,1628813555.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:35.929Z,1628813555.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:35.931Z,1628813555.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:36.345Z,1628813556.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:36.737Z,1628813556.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,0044A,186,80,80,78,FF
2021-08-13T00:12:36.737Z,1628813556.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:36.789Z,1628813556.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:37.186Z,1628813557.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001237.46*5B

2021-08-13T00:12:37.253Z,1628813557.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 194.891716 deg, deltaT: 4.066856 s, approachRate: -0.560630 m/s, LOS rate: -0.451141 deg/s, posRepo size: 4
2021-08-13T00:12:37.255Z,1628813557.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 194.891716 deg,
      approachRate: -0.560630 m/s,
      LOS rate: -0.451141 deg/s,
      cmd update: -1.353423 deg/s,
      cmd heading: 195.036133 deg,
      new cmd heading: 194.214627 deg.

2021-08-13T00:12:39.602Z,1628813559.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:39.969Z,1628813559.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:39.969Z,1628813559.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:39.969Z,1628813559.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:39.970Z,1628813559.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:40.373Z,1628813560.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,0044A,186,80,80,78,FF
2021-08-13T00:12:40.373Z,1628813560.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:40.373Z,1628813560.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:40.375Z,1628813560.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:40.784Z,1628813560.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:41.189Z,1628813561.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00414,185,80,80,58,FF
2021-08-13T00:12:41.189Z,1628813561.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:41.262Z,1628813561.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:41.617Z,1628813561.617 [Micromodem](INFO): Nmea in: $SNTTA,0.037399,,,,001241.90*48

2021-08-13T00:12:41.651Z,1628813561.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 197.802511 deg, deltaT: 4.472993 s, approachRate: -0.724346 m/s, LOS rate: 0.650749 deg/s, posRepo size: 4
2021-08-13T00:12:41.654Z,1628813561.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 197.802511 deg,
      approachRate: -0.724346 m/s,
      LOS rate: 0.650749 deg/s,
      cmd update: 1.952246 deg/s,
      cmd heading: 188.976808 deg,
      new cmd heading: 188.446120 deg.

2021-08-13T00:12:44.028Z,1628813564.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:44.413Z,1628813564.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:44.413Z,1628813564.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:44.413Z,1628813564.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:44.414Z,1628813564.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:44.825Z,1628813564.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00414,185,80,80,58,FF
2021-08-13T00:12:44.825Z,1628813564.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:44.825Z,1628813564.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:44.827Z,1628813564.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:45.224Z,1628813565.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:45.621Z,1628813565.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,003E7,186,80,80,58,FF
2021-08-13T00:12:45.622Z,1628813565.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:45.647Z,1628813565.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:46.073Z,1628813566.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001246.35*59

2021-08-13T00:12:46.094Z,1628813566.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 195.403352 deg, deltaT: 4.384265 s, approachRate: -0.615839 m/s, LOS rate: -0.547220 deg/s, posRepo size: 4
2021-08-13T00:12:46.096Z,1628813566.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 195.403352 deg,
      approachRate: -0.615839 m/s,
      LOS rate: -0.547220 deg/s,
      cmd update: -1.641661 deg/s,
      cmd heading: 197.535703 deg,
      new cmd heading: 198.414747 deg.

2021-08-13T00:12:48.497Z,1628813568.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:48.880Z,1628813568.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:48.881Z,1628813568.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:48.881Z,1628813568.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:48.883Z,1628813568.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:49.269Z,1628813569.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,003E7,186,80,80,58,FF
2021-08-13T00:12:49.269Z,1628813569.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:49.269Z,1628813569.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:49.271Z,1628813569.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:49.668Z,1628813569.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:50.073Z,1628813570.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,002BF,184,80,80,9C,FF
2021-08-13T00:12:50.075Z,1628813570.075 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:12:50.144Z,1628813570.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:12:50.505Z,1628813570.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001250.79*56

2021-08-13T00:12:50.552Z,1628813570.552 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T00:12:50.552Z,1628813570.552 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:12:50.553Z,1628813570.553 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T00:12:50.553Z,1628813570.553 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:12:50.555Z,1628813570.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T00:12:50.555Z,1628813570.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-13T00:12:50.555Z,1628813570.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T00:12:50.555Z,1628813570.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T00:12:50.560Z,1628813570.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T00:12:50.578Z,1628813570.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 197.012162 deg, deltaT: 4.497569 s, approachRate: -3.948800 m/s, LOS rate: 0.357707 deg/s, posRepo size: 4
2021-08-13T00:12:50.584Z,1628813570.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 197.012162 deg,
      approachRate: -3.948800 m/s,
      LOS rate: 0.357707 deg/s,
      cmd update: 1.073120 deg/s,
      cmd heading: 190.180945 deg,
      new cmd heading: 189.435299 deg.

2021-08-13T00:12:50.969Z,1628813570.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T001250: (41.552319, -70.708603)
2021-08-13T00:12:50.969Z,1628813570.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T00:12:50.969Z,1628813570.969 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T00:12:50.970Z,1628813570.970 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:12:53.003Z,1628813573.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:53.305Z,1628813573.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:53.305Z,1628813573.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:53.305Z,1628813573.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:53.306Z,1628813573.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:53.705Z,1628813573.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,002BF,184,80,80,9C,FF
2021-08-13T00:12:53.705Z,1628813573.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:53.705Z,1628813573.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:53.707Z,1628813573.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:54.136Z,1628813574.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:12:54.958Z,1628813574.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001255.23*5C

2021-08-13T00:12:55.743Z,1628813575.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:57.346Z,1628813577.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,9C,FF
2021-08-13T00:12:57.346Z,1628813577.346 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,9C,FF
2021-08-13T00:12:57.347Z,1628813577.347 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:12:58.603Z,1628813578.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:12:58.969Z,1628813578.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:12:58.969Z,1628813578.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:12:58.969Z,1628813578.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:12:58.970Z,1628813578.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:12:59.382Z,1628813579.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,9C,FF
2021-08-13T00:12:59.382Z,1628813579.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:12:59.383Z,1628813579.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:12:59.384Z,1628813579.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:12:59.768Z,1628813579.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:00.181Z,1628813580.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00339,185,80,80,4E,FF
2021-08-13T00:13:00.182Z,1628813580.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:00.212Z,1628813580.212 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:00.617Z,1628813580.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001300.91*54

2021-08-13T00:13:00.655Z,1628813580.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 199.552460 deg, deltaT: 10.067798 s, approachRate: 0.727071 m/s, LOS rate: 0.252319 deg/s, posRepo size: 4
2021-08-13T00:13:00.658Z,1628813580.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 199.552460 deg,
      approachRate: 0.727071 m/s,
      LOS rate: 0.252319 deg/s,
      cmd update: 0.756957 deg/s,
      cmd heading: 201.003571 deg,
      new cmd heading: 201.482814 deg.

2021-08-13T00:13:03.051Z,1628813583.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:03.405Z,1628813583.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:03.405Z,1628813583.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:03.406Z,1628813583.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:03.406Z,1628813583.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:03.817Z,1628813583.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00339,185,80,80,4E,FF
2021-08-13T00:13:03.818Z,1628813583.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:03.818Z,1628813583.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:03.819Z,1628813583.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:04.212Z,1628813584.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:04.621Z,1628813584.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0030B,184,80,80,A0,FF
2021-08-13T00:13:04.621Z,1628813584.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:04.642Z,1628813584.642 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:05.045Z,1628813585.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001305.34*5E

2021-08-13T00:13:05.134Z,1628813585.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 201.207606 deg, deltaT: 4.429561 s, approachRate: -0.623086 m/s, LOS rate: 0.373659 deg/s, posRepo size: 4
2021-08-13T00:13:05.140Z,1628813585.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 201.207606 deg,
      approachRate: -0.623086 m/s,
      LOS rate: 0.373659 deg/s,
      cmd update: 1.120977 deg/s,
      cmd heading: 204.356724 deg,
      new cmd heading: 204.731466 deg.

2021-08-13T00:13:07.490Z,1628813587.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:07.846Z,1628813587.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:07.846Z,1628813587.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:07.846Z,1628813587.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:07.847Z,1628813587.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:08.257Z,1628813588.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0030B,184,80,80,A0,FF
2021-08-13T00:13:08.258Z,1628813588.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:08.258Z,1628813588.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:08.259Z,1628813588.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:08.657Z,1628813588.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:09.057Z,1628813589.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,002E4,183,80,80,BB,FF
2021-08-13T00:13:09.057Z,1628813589.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:09.152Z,1628813589.152 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:09.489Z,1628813589.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001309.78*5A

2021-08-13T00:13:09.540Z,1628813589.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 207.206575 deg, deltaT: 4.510400 s, approachRate: -0.518801 m/s, LOS rate: 1.330030 deg/s, posRepo size: 4
2021-08-13T00:13:09.542Z,1628813589.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 207.206575 deg,
      approachRate: -0.518801 m/s,
      LOS rate: 1.330030 deg/s,
      cmd update: 3.990091 deg/s,
      cmd heading: 209.403462 deg,
      new cmd heading: 209.846127 deg.

2021-08-13T00:13:11.927Z,1628813591.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:12.289Z,1628813592.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:12.289Z,1628813592.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:12.289Z,1628813592.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:12.290Z,1628813592.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:12.702Z,1628813592.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,002E4,183,80,80,BB,FF
2021-08-13T00:13:12.702Z,1628813592.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:12.702Z,1628813592.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:12.703Z,1628813592.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:13.115Z,1628813593.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:13.517Z,1628813593.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,002C3,183,80,80,B2,FF
2021-08-13T00:13:13.517Z,1628813593.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:13.562Z,1628813593.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:13.937Z,1628813593.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001314.23*58

2021-08-13T00:13:13.972Z,1628813593.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 211.456428 deg, deltaT: 4.409578 s, approachRate: -0.449023 m/s, LOS rate: 0.963778 deg/s, posRepo size: 4
2021-08-13T00:13:13.974Z,1628813593.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 211.456428 deg,
      approachRate: -0.449023 m/s,
      LOS rate: 0.963778 deg/s,
      cmd update: 2.891333 deg/s,
      cmd heading: 227.015138 deg,
      new cmd heading: 228.680725 deg.

2021-08-13T00:13:16.356Z,1628813596.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:16.741Z,1628813596.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:16.741Z,1628813596.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:16.741Z,1628813596.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:16.742Z,1628813596.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:17.137Z,1628813597.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,002C3,183,80,80,B2,FF
2021-08-13T00:13:17.137Z,1628813597.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:17.137Z,1628813597.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:17.139Z,1628813597.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:17.557Z,1628813597.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:17.953Z,1628813597.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,002C2,186,80,80,88,FF
2021-08-13T00:13:17.954Z,1628813597.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:17.974Z,1628813597.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:18.389Z,1628813598.389 [Micromodem](INFO): Nmea in: $SNTTA,0.021921,,,,001318.66*42

2021-08-13T00:13:18.436Z,1628813598.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.860001 m, bearing: 221.973280 deg, deltaT: 4.412677 s, approachRate: -0.013597 m/s, LOS rate: 2.383327 deg/s, posRepo size: 4
2021-08-13T00:13:18.438Z,1628813598.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 221.973280 deg,
      approachRate: -0.013597 m/s,
      LOS rate: 2.383327 deg/s,
      cmd update: 7.149981 deg/s,
      cmd heading: 239.785312 deg,
      new cmd heading: 241.116906 deg.

2021-08-13T00:13:20.809Z,1628813600.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:21.177Z,1628813601.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:21.177Z,1628813601.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:21.177Z,1628813601.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:21.178Z,1628813601.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:21.594Z,1628813601.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,002C2,186,80,80,88,FF
2021-08-13T00:13:21.594Z,1628813601.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:21.595Z,1628813601.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:21.635Z,1628813601.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:21.994Z,1628813601.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:22.409Z,1628813602.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002D7,183,80,80,B3,FF
2021-08-13T00:13:22.410Z,1628813602.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:22.438Z,1628813602.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:22.811Z,1628813602.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001323.16*5A

2021-08-13T00:13:22.919Z,1628813602.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 249.590658 deg, deltaT: 4.463844 s, approachRate: 0.282268 m/s, LOS rate: 6.186905 deg/s, posRepo size: 4
2021-08-13T00:13:22.941Z,1628813602.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 249.590658 deg,
      approachRate: 0.282268 m/s,
      LOS rate: 6.186905 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.701655 deg,
      new cmd heading: 275.154309 deg.

2021-08-13T00:13:24.949Z,1628813604.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:25.213Z,1628813605.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:25.213Z,1628813605.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:25.213Z,1628813605.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:25.214Z,1628813605.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:25.626Z,1628813605.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,002D7,183,80,80,B3,FF
2021-08-13T00:13:25.627Z,1628813605.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:25.627Z,1628813605.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:25.629Z,1628813605.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:26.037Z,1628813606.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:26.434Z,1628813606.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,0030C,189,80,80,47,FF
2021-08-13T00:13:26.434Z,1628813606.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:26.512Z,1628813606.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:26.904Z,1628813606.904 [Micromodem](INFO): Nmea in: $SNTTA,0.023308,,,,001327.15*49

2021-08-13T00:13:26.966Z,1628813606.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 296.367509 deg, deltaT: 4.074315 s, approachRate: 0.780499 m/s, LOS rate: 11.480912 deg/s, posRepo size: 4
2021-08-13T00:13:26.967Z,1628813606.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.480912 deg/s. Setting heading cmd to target bearing of 296.367509deg and heading rate command to 0 deg/s.
2021-08-13T00:13:29.292Z,1628813609.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:29.661Z,1628813609.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:29.661Z,1628813609.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:29.661Z,1628813609.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:29.662Z,1628813609.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:29.679Z,1628813609.679 [CTD_Seabird](ERROR): Failed to parse device response: 6.24,23.95932,4823.23
2021-08-13T00:13:30.069Z,1628813610.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,0030C,189,80,80,47,FF
2021-08-13T00:13:30.070Z,1628813610.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:30.070Z,1628813610.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:30.071Z,1628813610.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:30.480Z,1628813610.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:31.311Z,1628813611.311 [Micromodem](INFO): Nmea in: $SNTTA,0.007177,,,,001331.60*40

2021-08-13T00:13:31.690Z,1628813611.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,024E5,188,80,80,83,FF
2021-08-13T00:13:31.690Z,1628813611.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:31.751Z,1628813611.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:32.147Z,1628813612.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 529.199951 m, bearing: 317.531478 deg, deltaT: 5.243294 s, approachRate: 99.155220 m/s, LOS rate: 4.036388 deg/s, posRepo size: 4
2021-08-13T00:13:32.150Z,1628813612.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 529.199951 m,
      bearing: 317.531478 deg,
      approachRate: 99.155220 m/s,
      LOS rate: 4.036388 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 296.367509 deg,
      new cmd heading: 296.367509 deg.

2021-08-13T00:13:32.533Z,1628813612.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:13:32.533Z,1628813612.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:32.534Z,1628813612.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:13:32.534Z,1628813612.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:13:32.534Z,1628813612.534 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:13:32.535Z,1628813612.535 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:13:33.001Z,1628813613.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:13:33.001Z,1628813613.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:33.001Z,1628813613.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:13:33.001Z,1628813613.001 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:34.546Z,1628813614.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:34.952Z,1628813614.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:34.952Z,1628813614.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:34.953Z,1628813614.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:34.953Z,1628813614.953 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:35.325Z,1628813615.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,024E5,188,80,80,83,FF
2021-08-13T00:13:35.325Z,1628813615.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:35.325Z,1628813615.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:35.327Z,1628813615.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:35.726Z,1628813615.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:36.125Z,1628813616.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,445,000,0035F,189,80,80,5F,FF
2021-08-13T00:13:36.126Z,1628813616.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:36.569Z,1628813616.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001336.85*54

2021-08-13T00:13:36.604Z,1628813616.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 251.273125 deg, deltaT: 4.500820 s, approachRate: -114.405800 m/s, LOS rate: -14.721395 deg/s, posRepo size: 4
2021-08-13T00:13:36.605Z,1628813616.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.721395 deg/s. Setting heading cmd to target bearing of 251.273125deg and heading rate command to 0 deg/s.
2021-08-13T00:13:37.033Z,1628813617.033 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:13:37.033Z,1628813617.033 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:37.033Z,1628813617.033 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:13:37.034Z,1628813617.034 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:13:37.034Z,1628813617.034 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:13:37.034Z,1628813617.034 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:13:37.389Z,1628813617.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:13:37.389Z,1628813617.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:37.389Z,1628813617.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:13:37.389Z,1628813617.389 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:39.006Z,1628813619.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:39.365Z,1628813619.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:39.365Z,1628813619.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:39.366Z,1628813619.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:39.366Z,1628813619.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:39.777Z,1628813619.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
445,000,0035F,189,80,80,5F,FF
2021-08-13T00:13:39.777Z,1628813619.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:39.777Z,1628813619.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:39.779Z,1628813619.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:40.169Z,1628813620.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:40.569Z,1628813620.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2C,000,00370,187,80,80,A7,FF
2021-08-13T00:13:40.569Z,1628813620.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:40.590Z,1628813620.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:41.009Z,1628813621.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001341.30*5A

2021-08-13T00:13:41.091Z,1628813621.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 345.653143 deg, deltaT: 4.333267 s, approachRate: 0.235388 m/s, LOS rate: 21.780338 deg/s, posRepo size: 4
2021-08-13T00:13:41.099Z,1628813621.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.780338 deg/s. Setting heading cmd to target bearing of 345.653143deg and heading rate command to 0 deg/s.
2021-08-13T00:13:43.431Z,1628813623.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:43.805Z,1628813623.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:43.805Z,1628813623.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:43.805Z,1628813623.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:43.806Z,1628813623.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:44.205Z,1628813624.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2C,000,00370,187,80,80,A7,FF
2021-08-13T00:13:44.205Z,1628813624.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:44.205Z,1628813624.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:44.207Z,1628813624.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:44.612Z,1628813624.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:45.018Z,1628813625.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00387,187,80,80,6A,FF
2021-08-13T00:13:45.019Z,1628813625.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:45.058Z,1628813625.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:45.457Z,1628813625.457 [Micromodem](INFO): Nmea in: $SNTTA,0.121945,,,,001345.73*4D

2021-08-13T00:13:45.511Z,1628813625.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 357.513985 deg, deltaT: 4.469111 s, approachRate: 0.308787 m/s, LOS rate: 2.653960 deg/s, posRepo size: 4
2021-08-13T00:13:45.518Z,1628813625.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 357.513985 deg,
      approachRate: 0.308787 m/s,
      LOS rate: 2.653960 deg/s,
      cmd update: 7.961880 deg/s,
      cmd heading: 345.653143 deg,
      new cmd heading: 345.653143 deg.

2021-08-13T00:13:47.869Z,1628813627.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:48.249Z,1628813628.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:48.250Z,1628813628.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:48.250Z,1628813628.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:48.251Z,1628813628.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:48.653Z,1628813628.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00387,187,80,80,6A,FF
2021-08-13T00:13:48.653Z,1628813628.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:48.653Z,1628813628.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:48.655Z,1628813628.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:49.064Z,1628813629.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:49.898Z,1628813629.898 [Micromodem](INFO): Nmea in: $SNTTA,0.444989,,,,001350.18*42

2021-08-13T00:13:50.269Z,1628813630.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF9,000,02C0E,187,80,80,34,FF
2021-08-13T00:13:50.269Z,1628813630.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:50.290Z,1628813630.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:50.707Z,1628813630.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 639.179993 m, bearing: 349.670742 deg, deltaT: 5.231307 s, approachRate: 118.995117 m/s, LOS rate: -1.499289 deg/s, posRepo size: 4
2021-08-13T00:13:50.710Z,1628813630.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 639.179993 m,
      bearing: 349.670742 deg,
      approachRate: 118.995117 m/s,
      LOS rate: -1.499289 deg/s,
      cmd update: -4.497868 deg/s,
      cmd heading: 27.307126 deg,
      new cmd heading: 30.653218 deg.

2021-08-13T00:13:51.139Z,1628813631.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:13:51.139Z,1628813631.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:51.139Z,1628813631.139 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:13:51.141Z,1628813631.141 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:13:51.141Z,1628813631.141 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:13:51.141Z,1628813631.141 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:13:51.505Z,1628813631.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:13:51.505Z,1628813631.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:51.505Z,1628813631.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:13:51.505Z,1628813631.505 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:13:53.165Z,1628813633.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:53.499Z,1628813633.499 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:53.499Z,1628813633.499 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:53.499Z,1628813633.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:53.500Z,1628813633.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:53.909Z,1628813633.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF9,000,02C0E,187,80,80,34,FF
2021-08-13T00:13:53.909Z,1628813633.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:53.909Z,1628813633.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:53.911Z,1628813633.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:54.317Z,1628813634.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:54.713Z,1628813634.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A6,000,003C6,185,80,80,6F,FF
2021-08-13T00:13:54.713Z,1628813634.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:54.717Z,1628813634.717 [PowerOnly](INFO): Powering down loadControl
2021-08-13T00:13:55.157Z,1628813635.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001355.44*5C

2021-08-13T00:13:55.225Z,1628813635.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 331.393948 deg, deltaT: 4.475953 s, approachRate: -138.232010 m/s, LOS rate: -4.083330 deg/s, posRepo size: 4
2021-08-13T00:13:55.227Z,1628813635.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.459999 m,
      bearing: 331.393948 deg,
      approachRate: -138.232010 m/s,
      LOS rate: -4.083330 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 7.191049 deg,
      new cmd heading: 5.114869 deg.

2021-08-13T00:13:55.587Z,1628813635.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:13:55.587Z,1628813635.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:55.588Z,1628813635.588 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:13:55.590Z,1628813635.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:13:55.590Z,1628813635.590 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:13:55.591Z,1628813635.591 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:13:55.962Z,1628813635.962 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:13:55.962Z,1628813635.962 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:55.963Z,1628813635.963 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:13:55.963Z,1628813635.963 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:13:57.605Z,1628813637.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:13:57.941Z,1628813637.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:13:57.941Z,1628813637.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:13:57.941Z,1628813637.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:13:57.942Z,1628813637.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:13:58.355Z,1628813638.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A6,000,003C6,185,80,80,6F,FF
2021-08-13T00:13:58.355Z,1628813638.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:13:58.355Z,1628813638.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:13:58.357Z,1628813638.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:13:58.756Z,1628813638.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:13:59.161Z,1628813639.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,003DA,189,80,80,A4,FF
2021-08-13T00:13:59.161Z,1628813639.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:13:59.165Z,1628813639.165 [Micromodem](INFO): Nmea in: $SNTTA,0.194268,0.194137,,,001359.88*59

2021-08-13T00:13:59.234Z,1628813639.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:13:59.627Z,1628813639.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 34.891485 deg, deltaT: 4.468138 s, approachRate: 0.268568 m/s, LOS rate: 14.211183 deg/s, posRepo size: 4
2021-08-13T00:13:59.628Z,1628813639.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.211183 deg/s. Setting heading cmd to target bearing of 34.891485deg and heading rate command to 0 deg/s.
2021-08-13T00:14:02.038Z,1628813642.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:02.391Z,1628813642.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:02.391Z,1628813642.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:02.391Z,1628813642.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:02.392Z,1628813642.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:02.789Z,1628813642.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,003DA,189,80,80,A4,FF
2021-08-13T00:14:02.789Z,1628813642.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:02.790Z,1628813642.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:02.791Z,1628813642.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:03.205Z,1628813643.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:03.597Z,1628813643.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,003F8,189,80,80,76,FF
2021-08-13T00:14:03.597Z,1628813643.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:03.646Z,1628813643.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:04.057Z,1628813644.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001404.32*5E

2021-08-13T00:14:04.103Z,1628813644.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 332.049947 deg, deltaT: 4.411324 s, approachRate: 0.408041 m/s, LOS rate: -14.245503 deg/s, posRepo size: 4
2021-08-13T00:14:04.104Z,1628813644.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.245503 deg/s. Setting heading cmd to target bearing of 332.049947deg and heading rate command to 0 deg/s.
2021-08-13T00:14:06.451Z,1628813646.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:06.840Z,1628813646.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:06.841Z,1628813646.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:06.841Z,1628813646.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:06.843Z,1628813646.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:07.241Z,1628813647.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,003F8,189,80,80,76,FF
2021-08-13T00:14:07.241Z,1628813647.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:07.241Z,1628813647.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:07.243Z,1628813647.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:07.641Z,1628813647.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:08.077Z,1628813648.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00418,187,80,80,61,FF
2021-08-13T00:14:08.077Z,1628813648.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:08.107Z,1628813648.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:08.485Z,1628813648.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001408.77*53

2021-08-13T00:14:08.501Z,1628813648.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 358.949855 deg, deltaT: 4.461817 s, approachRate: 0.430318 m/s, LOS rate: 6.028913 deg/s, posRepo size: 4
2021-08-13T00:14:08.503Z,1628813648.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.379997 m,
      bearing: 358.949855 deg,
      approachRate: 0.430318 m/s,
      LOS rate: 6.028913 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.049947 deg,
      new cmd heading: 332.049947 deg.

2021-08-13T00:14:10.959Z,1628813650.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:11.285Z,1628813651.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:11.285Z,1628813651.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:11.285Z,1628813651.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:11.286Z,1628813651.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:11.681Z,1628813651.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00418,187,80,80,61,FF
2021-08-13T00:14:11.681Z,1628813651.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:11.681Z,1628813651.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:11.683Z,1628813651.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:12.108Z,1628813652.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:12.497Z,1628813652.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,0043D,186,80,80,7D,FF
2021-08-13T00:14:12.497Z,1628813652.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:12.580Z,1628813652.580 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:12.969Z,1628813652.969 [Micromodem](INFO): Nmea in: $SNTTA,0.033046,,,,001413.21*46

2021-08-13T00:14:13.072Z,1628813653.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 349.572524 deg, deltaT: 4.473038 s, approachRate: 0.496308 m/s, LOS rate: -2.096412 deg/s, posRepo size: 4
2021-08-13T00:14:13.073Z,1628813653.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 27.60 m. Rolling out.
2021-08-13T00:14:13.073Z,1628813653.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:14:15.362Z,1628813655.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:15.721Z,1628813655.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:15.721Z,1628813655.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:15.721Z,1628813655.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:15.722Z,1628813655.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:16.141Z,1628813656.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,0043D,186,80,80,7D,FF
2021-08-13T00:14:16.141Z,1628813656.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:16.141Z,1628813656.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:16.143Z,1628813656.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:16.525Z,1628813656.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:17.362Z,1628813657.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001417.67*5C

2021-08-13T00:14:18.192Z,1628813658.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:19.850Z,1628813659.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,7D,FF
2021-08-13T00:14:19.850Z,1628813659.850 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,7D,FF
2021-08-13T00:14:19.850Z,1628813659.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:14:20.002Z,1628813660.002 [CTD_Seabird](ERROR): Failed to parse device response: 6.01,23.829.28
2021-08-13T00:14:21.127Z,1628813661.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:21.450Z,1628813661.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:21.450Z,1628813661.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:21.451Z,1628813661.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:21.452Z,1628813661.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:21.854Z,1628813661.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,7D,FF
2021-08-13T00:14:21.854Z,1628813661.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:21.854Z,1628813661.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:21.857Z,1628813661.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:22.260Z,1628813662.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:22.662Z,1628813662.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,0049B,186,80,80,60,FF
2021-08-13T00:14:22.662Z,1628813662.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:22.682Z,1628813662.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:23.101Z,1628813663.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001423.38*51

2021-08-13T00:14:23.163Z,1628813663.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 16.263536 deg, deltaT: 10.101556 s, approachRate: 0.558330 m/s, LOS rate: 2.642267 deg/s, posRepo size: 4
2021-08-13T00:14:25.503Z,1628813665.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:25.905Z,1628813665.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:25.905Z,1628813665.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:25.905Z,1628813665.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:25.906Z,1628813665.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:26.303Z,1628813666.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,0049B,186,80,80,60,FF
2021-08-13T00:14:26.303Z,1628813666.303 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:26.303Z,1628813666.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:26.305Z,1628813666.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:26.713Z,1628813666.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:27.101Z,1628813667.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,004B4,183,80,80,5B,FF
2021-08-13T00:14:27.101Z,1628813667.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:27.205Z,1628813667.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:27.554Z,1628813667.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001427.83*55

2021-08-13T00:14:27.579Z,1628813667.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 17.324708 deg, deltaT: 4.522528 s, approachRate: 0.331674 m/s, LOS rate: 0.234641 deg/s, posRepo size: 4
2021-08-13T00:14:29.970Z,1628813669.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:30.341Z,1628813670.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:30.341Z,1628813670.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:30.341Z,1628813670.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:30.342Z,1628813670.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:30.757Z,1628813670.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,004B4,183,80,80,5B,FF
2021-08-13T00:14:30.757Z,1628813670.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:30.757Z,1628813670.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:30.759Z,1628813670.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:31.150Z,1628813671.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:31.558Z,1628813671.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,004D0,187,80,80,60,FF
2021-08-13T00:14:31.559Z,1628813671.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:31.581Z,1628813671.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:31.993Z,1628813671.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001432.28*50

2021-08-13T00:14:32.063Z,1628813672.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 56.901452 deg, deltaT: 4.376323 s, approachRate: 0.383883 m/s, LOS rate: 9.043379 deg/s, posRepo size: 4
2021-08-13T00:14:34.447Z,1628813674.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:34.787Z,1628813674.787 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:34.787Z,1628813674.787 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:34.788Z,1628813674.788 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:34.789Z,1628813674.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:35.181Z,1628813675.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,004D0,187,80,80,60,FF
2021-08-13T00:14:35.181Z,1628813675.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:35.181Z,1628813675.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:35.183Z,1628813675.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:35.605Z,1628813675.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:36.022Z,1628813676.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,004E5,186,80,80,78,FF
2021-08-13T00:14:36.028Z,1628813676.028 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:36.112Z,1628813676.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:36.442Z,1628813676.442 [Micromodem](INFO): Nmea in: $SNTTA,0.047864,,,,001436.71*4F

2021-08-13T00:14:36.467Z,1628813676.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 45.700581 deg, deltaT: 4.531105 s, approachRate: 0.278078 m/s, LOS rate: -2.471996 deg/s, posRepo size: 4
2021-08-13T00:14:38.920Z,1628813678.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:39.214Z,1628813679.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:39.214Z,1628813679.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:39.214Z,1628813679.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:39.215Z,1628813679.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:39.625Z,1628813679.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,004E5,186,80,80,78,FF
2021-08-13T00:14:39.625Z,1628813679.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:39.625Z,1628813679.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:39.632Z,1628813679.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:40.057Z,1628813680.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:40.433Z,1628813680.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00500,186,80,80,63,FF
2021-08-13T00:14:40.433Z,1628813680.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:40.482Z,1628813680.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:40.909Z,1628813680.909 [Micromodem](INFO): Nmea in: $SNTTA,0.040647,,,,001441.16*46

2021-08-13T00:14:40.955Z,1628813680.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 39.462162 deg, deltaT: 4.370139 s, approachRate: 0.370697 m/s, LOS rate: -1.427510 deg/s, posRepo size: 4
2021-08-13T00:14:43.309Z,1628813683.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:43.669Z,1628813683.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:43.669Z,1628813683.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:43.669Z,1628813683.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:43.670Z,1628813683.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:44.093Z,1628813684.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00500,186,80,80,63,FF
2021-08-13T00:14:44.093Z,1628813684.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:44.093Z,1628813684.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:44.095Z,1628813684.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:44.497Z,1628813684.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:44.913Z,1628813684.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00519,189,80,80,73,FF
2021-08-13T00:14:44.914Z,1628813684.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:44.953Z,1628813684.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:14:45.309Z,1628813685.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001445.62*5E

2021-08-13T00:14:45.379Z,1628813685.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 63.002403 deg, deltaT: 4.470845 s, approachRate: 0.335507 m/s, LOS rate: 5.265278 deg/s, posRepo size: 4
2021-08-13T00:14:45.725Z,1628813685.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:14:45.726Z,1628813685.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:14:45.726Z,1628813685.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:14:45.726Z,1628813685.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:14:45.727Z,1628813685.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:14:45.727Z,1628813685.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:14:46.137Z,1628813686.137 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:14:46.137Z,1628813686.137 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:14:46.137Z,1628813686.137 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:14:46.138Z,1628813686.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:14:47.758Z,1628813687.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:48.148Z,1628813688.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:48.148Z,1628813688.148 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:48.148Z,1628813688.148 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:48.149Z,1628813688.149 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:48.537Z,1628813688.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00519,189,80,80,73,FF
2021-08-13T00:14:48.537Z,1628813688.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:48.537Z,1628813688.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:48.539Z,1628813688.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:48.962Z,1628813688.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:49.354Z,1628813689.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,00539,189,80,80,76,FF
2021-08-13T00:14:49.354Z,1628813689.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:49.785Z,1628813689.785 [Micromodem](INFO): Nmea in: $SNTTA,0.041159,,,,001450.06*4E

2021-08-13T00:14:49.823Z,1628813689.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 61.582468 deg, deltaT: 4.420798 s, approachRate: 0.434310 m/s, LOS rate: -0.321194 deg/s, posRepo size: 4
2021-08-13T00:14:52.221Z,1628813692.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:52.573Z,1628813692.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:52.573Z,1628813692.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:52.573Z,1628813692.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:52.574Z,1628813692.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:52.989Z,1628813692.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,00539,189,80,80,76,FF
2021-08-13T00:14:52.989Z,1628813692.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:52.989Z,1628813692.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:52.991Z,1628813692.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:53.389Z,1628813693.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:53.798Z,1628813693.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00560,189,80,80,77,FF
2021-08-13T00:14:53.798Z,1628813693.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:54.241Z,1628813694.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001454.51*5E

2021-08-13T00:14:54.295Z,1628813694.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 54.416185 deg, deltaT: 4.444917 s, approachRate: 0.526444 m/s, LOS rate: -1.612242 deg/s, posRepo size: 4
2021-08-13T00:14:56.644Z,1628813696.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:14:57.032Z,1628813697.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:14:57.032Z,1628813697.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:14:57.033Z,1628813697.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:14:57.034Z,1628813697.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:14:57.429Z,1628813697.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00560,189,80,80,77,FF
2021-08-13T00:14:57.429Z,1628813697.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:14:57.429Z,1628813697.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:14:57.431Z,1628813697.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:14:57.849Z,1628813697.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:14:58.233Z,1628813698.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00580,187,80,80,7B,FF
2021-08-13T00:14:58.233Z,1628813698.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:14:58.674Z,1628813698.674 [Micromodem](INFO): Nmea in: $SNTTA,0.059472,,,,001458.96*4A

2021-08-13T00:14:58.690Z,1628813698.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 50.206637 deg, deltaT: 4.485358 s, approachRate: 0.428059 m/s, LOS rate: -0.938509 deg/s, posRepo size: 4
2021-08-13T00:15:01.161Z,1628813701.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:01.469Z,1628813701.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:01.469Z,1628813701.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:01.469Z,1628813701.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:01.470Z,1628813701.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:01.874Z,1628813701.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00580,187,80,80,7B,FF
2021-08-13T00:15:01.874Z,1628813701.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:01.874Z,1628813701.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:01.877Z,1628813701.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:02.289Z,1628813702.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:02.689Z,1628813702.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,0059F,186,80,80,7A,FF
2021-08-13T00:15:02.690Z,1628813702.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:03.149Z,1628813703.149 [Micromodem](INFO): Nmea in: $SNTTA,0.433617,,,,001503.40*47

2021-08-13T00:15:03.220Z,1628813703.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 47.898737 deg, deltaT: 4.404769 s, approachRate: 0.422270 m/s, LOS rate: -0.523955 deg/s, posRepo size: 4
2021-08-13T00:15:05.214Z,1628813705.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:05.557Z,1628813705.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:05.557Z,1628813705.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:05.557Z,1628813705.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:05.558Z,1628813705.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:05.949Z,1628813705.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,0059F,186,80,80,7A,FF
2021-08-13T00:15:05.949Z,1628813705.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:05.949Z,1628813705.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:05.951Z,1628813705.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:06.357Z,1628813706.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:06.761Z,1628813706.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,005C4,186,80,80,6F,FF
2021-08-13T00:15:06.761Z,1628813706.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:07.173Z,1628813707.173 [Micromodem](INFO): Nmea in: $SNTTA,0.397963,0.397838,,,001507.48*5E

2021-08-13T00:15:07.241Z,1628813707.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 44.325974 deg, deltaT: 4.072139 s, approachRate: 0.545167 m/s, LOS rate: -0.877368 deg/s, posRepo size: 4
2021-08-13T00:15:09.632Z,1628813709.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:09.996Z,1628813709.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:09.996Z,1628813709.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:09.996Z,1628813709.996 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:09.997Z,1628813709.997 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:10.397Z,1628813710.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,005C4,186,80,80,6F,FF
2021-08-13T00:15:10.397Z,1628813710.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:10.397Z,1628813710.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:10.399Z,1628813710.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:10.804Z,1628813710.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:11.205Z,1628813711.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,005EC,186,80,80,83,FF
2021-08-13T00:15:11.205Z,1628813711.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:11.209Z,1628813711.209 [Micromodem](INFO): Nmea in: $SNTTA,0.134561,0.134680,,,001511.92*5D

2021-08-13T00:15:11.639Z,1628813711.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 40.546581 deg, deltaT: 4.525427 s, approachRate: 0.530339 m/s, LOS rate: -0.835146 deg/s, posRepo size: 4
2021-08-13T00:15:14.081Z,1628813714.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:14.445Z,1628813714.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:14.446Z,1628813714.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:14.447Z,1628813714.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:14.455Z,1628813714.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:14.480Z,1628813714.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,005EC,186,80,80,83,FF
2021-08-13T00:15:14.480Z,1628813714.480 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:14.480Z,1628813714.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:14.482Z,1628813714.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:14.869Z,1628813714.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:15.241Z,1628813715.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00604,186,80,80,7D,FF
2021-08-13T00:15:15.242Z,1628813715.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:15.245Z,1628813715.245 [Micromodem](INFO): Nmea in: $SNTTA,0.059381,0.133429,,,001516.01*54

2021-08-13T00:15:15.679Z,1628813715.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 42.626511 deg, deltaT: 4.037965 s, approachRate: 0.356615 m/s, LOS rate: 0.515093 deg/s, posRepo size: 4
2021-08-13T00:15:18.121Z,1628813718.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:18.477Z,1628813718.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:18.477Z,1628813718.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:18.477Z,1628813718.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:18.478Z,1628813718.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:18.920Z,1628813718.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00604,186,80,80,7D,FF
2021-08-13T00:15:18.921Z,1628813718.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:18.921Z,1628813718.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:18.922Z,1628813718.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:19.288Z,1628813719.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:19.689Z,1628813719.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00630,187,80,80,81,FF
2021-08-13T00:15:19.689Z,1628813719.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:20.119Z,1628813720.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001520.45*59

2021-08-13T00:15:20.169Z,1628813720.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 40.886298 deg, deltaT: 4.364607 s, approachRate: 0.604865 m/s, LOS rate: -0.398710 deg/s, posRepo size: 4
2021-08-13T00:15:22.567Z,1628813722.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:22.949Z,1628813722.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:22.949Z,1628813722.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:22.949Z,1628813722.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:22.950Z,1628813722.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:23.337Z,1628813723.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00630,187,80,80,81,FF
2021-08-13T00:15:23.337Z,1628813723.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:23.337Z,1628813723.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:23.339Z,1628813723.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:23.744Z,1628813723.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:24.138Z,1628813724.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0065B,186,80,80,6A,FF
2021-08-13T00:15:24.138Z,1628813724.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:24.581Z,1628813724.581 [Micromodem](INFO): Nmea in: $SNTTA,0.047767,,,,001524.86*49

2021-08-13T00:15:24.614Z,1628813724.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 46.354933 deg, deltaT: 4.463239 s, approachRate: 0.578057 m/s, LOS rate: 1.225262 deg/s, posRepo size: 4
2021-08-13T00:15:27.059Z,1628813727.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:27.373Z,1628813727.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:27.373Z,1628813727.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:27.373Z,1628813727.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:27.374Z,1628813727.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:27.773Z,1628813727.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0065B,186,80,80,6A,FF
2021-08-13T00:15:27.773Z,1628813727.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:27.773Z,1628813727.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:27.775Z,1628813727.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:28.181Z,1628813728.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:28.589Z,1628813728.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00683,189,80,80,52,FF
2021-08-13T00:15:28.589Z,1628813728.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:29.041Z,1628813729.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001529.30*52

2021-08-13T00:15:29.113Z,1628813729.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 356.798810 deg, deltaT: 4.436545 s, approachRate: 0.540960 m/s, LOS rate: -11.169982 deg/s, posRepo size: 4
2021-08-13T00:15:31.456Z,1628813731.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:31.825Z,1628813731.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:31.825Z,1628813731.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:31.826Z,1628813731.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:31.826Z,1628813731.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:32.230Z,1628813732.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00683,189,80,80,52,FF
2021-08-13T00:15:32.230Z,1628813732.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:32.230Z,1628813732.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:32.233Z,1628813732.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:32.625Z,1628813732.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:33.454Z,1628813733.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001533.76*5B

2021-08-13T00:15:34.290Z,1628813734.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:35.866Z,1628813735.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,52,FF
2021-08-13T00:15:35.866Z,1628813735.866 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,52,FF
2021-08-13T00:15:35.866Z,1628813735.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:15:37.163Z,1628813737.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:37.477Z,1628813737.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:37.477Z,1628813737.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:37.477Z,1628813737.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:37.478Z,1628813737.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:37.874Z,1628813737.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,52,FF
2021-08-13T00:15:37.874Z,1628813737.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:37.874Z,1628813737.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:37.877Z,1628813737.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:38.311Z,1628813738.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:38.683Z,1628813738.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,006DF,186,80,80,56,FF
2021-08-13T00:15:38.683Z,1628813738.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:39.125Z,1628813739.125 [Micromodem](INFO): Nmea in: $SNTTA,0.167615,,,,001539.40*48

2021-08-13T00:15:39.221Z,1628813739.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 18.908139 deg, deltaT: 10.096379 s, approachRate: 0.546731 m/s, LOS rate: 2.189829 deg/s, posRepo size: 4
2021-08-13T00:15:41.562Z,1628813741.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:41.921Z,1628813741.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:41.921Z,1628813741.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:41.921Z,1628813741.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:41.922Z,1628813741.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:42.323Z,1628813742.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,006DF,186,80,80,56,FF
2021-08-13T00:15:42.323Z,1628813742.323 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:42.323Z,1628813742.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:42.326Z,1628813742.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:42.724Z,1628813742.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:43.130Z,1628813743.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00706,183,80,80,95,FF
2021-08-13T00:15:43.131Z,1628813743.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:43.146Z,1628813743.146 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T00:15:43.569Z,1628813743.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001543.85*50

2021-08-13T00:15:43.600Z,1628813743.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 25.952593 deg, deltaT: 4.526623 s, approachRate: 0.516943 m/s, LOS rate: 1.556227 deg/s, posRepo size: 4
2021-08-13T00:15:45.169Z,1628813745.169 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:15:45.971Z,1628813745.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:46.376Z,1628813746.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:46.377Z,1628813746.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:46.377Z,1628813746.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:46.378Z,1628813746.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:46.761Z,1628813746.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00706,183,80,80,95,FF
2021-08-13T00:15:46.761Z,1628813746.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:46.761Z,1628813746.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:46.763Z,1628813746.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:47.179Z,1628813747.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:47.569Z,1628813747.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00735,184,80,80,94,FF
2021-08-13T00:15:47.569Z,1628813747.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:48.033Z,1628813748.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001548.29*5D

2021-08-13T00:15:48.086Z,1628813748.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 24.317396 deg, deltaT: 4.393056 s, approachRate: 0.641920 m/s, LOS rate: -0.372223 deg/s, posRepo size: 4
2021-08-13T00:15:50.467Z,1628813750.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:50.809Z,1628813750.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:50.809Z,1628813750.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:50.810Z,1628813750.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:50.811Z,1628813750.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:51.213Z,1628813751.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00735,184,80,80,94,FF
2021-08-13T00:15:51.213Z,1628813751.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:51.213Z,1628813751.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:51.215Z,1628813751.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:51.626Z,1628813751.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:52.020Z,1628813752.020 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00761,185,80,80,A7,FF
2021-08-13T00:15:52.022Z,1628813752.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:52.453Z,1628813752.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001552.74*5E

2021-08-13T00:15:52.483Z,1628813752.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 24.544937 deg, deltaT: 4.514645 s, approachRate: 0.584765 m/s, LOS rate: 0.050401 deg/s, posRepo size: 4
2021-08-13T00:15:54.925Z,1628813754.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:55.253Z,1628813755.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:55.253Z,1628813755.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:55.253Z,1628813755.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:55.254Z,1628813755.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:55.654Z,1628813755.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00761,185,80,80,A7,FF
2021-08-13T00:15:55.654Z,1628813755.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:55.654Z,1628813755.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:55.656Z,1628813755.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:15:56.085Z,1628813756.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:15:56.457Z,1628813756.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00789,184,80,80,A2,FF
2021-08-13T00:15:56.457Z,1628813756.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:15:56.923Z,1628813756.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001557.18*51

2021-08-13T00:15:57.033Z,1628813757.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.240005 m, bearing: 28.281004 deg, deltaT: 4.337879 s, approachRate: 0.553266 m/s, LOS rate: 0.861266 deg/s, posRepo size: 4
2021-08-13T00:15:59.041Z,1628813759.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:15:59.285Z,1628813759.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:15:59.285Z,1628813759.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:15:59.285Z,1628813759.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:15:59.286Z,1628813759.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:15:59.693Z,1628813759.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00789,184,80,80,A2,FF
2021-08-13T00:15:59.693Z,1628813759.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:15:59.693Z,1628813759.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:15:59.695Z,1628813759.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:00.101Z,1628813760.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:00.497Z,1628813760.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,007B4,183,80,80,A8,FF
2021-08-13T00:16:00.498Z,1628813760.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:00.961Z,1628813760.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001601.22*58

2021-08-13T00:16:01.090Z,1628813761.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.820000 m, bearing: 27.063250 deg, deltaT: 4.039879 s, approachRate: 0.638632 m/s, LOS rate: -0.301433 deg/s, posRepo size: 4
2021-08-13T00:16:03.375Z,1628813763.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:03.729Z,1628813763.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:03.729Z,1628813763.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:03.729Z,1628813763.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:03.730Z,1628813763.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:04.133Z,1628813764.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,007B4,183,80,80,A8,FF
2021-08-13T00:16:04.133Z,1628813764.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:04.134Z,1628813764.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:04.135Z,1628813764.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:04.548Z,1628813764.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:04.949Z,1628813764.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,007E4,186,80,80,96,FF
2021-08-13T00:16:04.949Z,1628813764.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:05.385Z,1628813765.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001605.66*5C

2021-08-13T00:16:05.428Z,1628813765.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 18.741704 deg, deltaT: 4.553349 s, approachRate: 0.632501 m/s, LOS rate: -1.827566 deg/s, posRepo size: 4
2021-08-13T00:16:07.807Z,1628813767.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:08.177Z,1628813768.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:08.177Z,1628813768.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:08.177Z,1628813768.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:08.178Z,1628813768.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:08.577Z,1628813768.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,007E4,186,80,80,96,FF
2021-08-13T00:16:08.577Z,1628813768.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:08.577Z,1628813768.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:08.579Z,1628813768.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:08.985Z,1628813768.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:09.818Z,1628813769.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001610.11*58

2021-08-13T00:16:10.638Z,1628813770.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:12.213Z,1628813772.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,96,FF
2021-08-13T00:16:12.213Z,1628813772.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,96,FF
2021-08-13T00:16:12.213Z,1628813772.213 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:16:13.461Z,1628813773.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:13.833Z,1628813773.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:13.833Z,1628813773.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:13.833Z,1628813773.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:13.834Z,1628813773.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:14.237Z,1628813774.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,96,FF
2021-08-13T00:16:14.237Z,1628813774.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:14.238Z,1628813774.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:14.239Z,1628813774.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:14.651Z,1628813774.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:15.065Z,1628813775.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,0084C,186,80,80,8E,FF
2021-08-13T00:16:15.065Z,1628813775.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:15.493Z,1628813775.493 [Micromodem](INFO): Nmea in: $SNTTA,0.064985,,,,001615.76*44

2021-08-13T00:16:15.541Z,1628813775.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 16.825626 deg, deltaT: 10.076217 s, approachRate: 0.619281 m/s, LOS rate: -0.190158 deg/s, posRepo size: 4
2021-08-13T00:16:17.896Z,1628813777.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:18.273Z,1628813778.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:18.273Z,1628813778.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:18.273Z,1628813778.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:18.274Z,1628813778.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:18.678Z,1628813778.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,0084C,186,80,80,8E,FF
2021-08-13T00:16:18.678Z,1628813778.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:18.678Z,1628813778.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:18.680Z,1628813778.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:19.116Z,1628813779.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:19.495Z,1628813779.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,0087B,186,80,80,7B,FF
2021-08-13T00:16:19.498Z,1628813779.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:19.925Z,1628813779.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001620.20*59

2021-08-13T00:16:19.956Z,1628813779.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 6.439006 deg, deltaT: 4.410439 s, approachRate: 0.639390 m/s, LOS rate: -2.355008 deg/s, posRepo size: 4
2021-08-13T00:16:22.369Z,1628813782.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:22.724Z,1628813782.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:22.724Z,1628813782.724 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:22.724Z,1628813782.724 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:22.725Z,1628813782.725 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:23.121Z,1628813783.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,0087B,186,80,80,7B,FF
2021-08-13T00:16:23.121Z,1628813783.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:23.121Z,1628813783.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:23.123Z,1628813783.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:23.533Z,1628813783.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:23.933Z,1628813783.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,008AC,186,80,80,91,FF
2021-08-13T00:16:23.933Z,1628813783.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:24.373Z,1628813784.373 [Micromodem](INFO): Nmea in: $SNTTA,0.065762,,,,001624.65*42

2021-08-13T00:16:24.414Z,1628813784.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 0.374904 deg, deltaT: 4.395390 s, approachRate: 0.668883 m/s, LOS rate: -1.379651 deg/s, posRepo size: 4
2021-08-13T00:16:26.786Z,1628813786.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:27.161Z,1628813787.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:27.161Z,1628813787.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:27.162Z,1628813787.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:27.163Z,1628813787.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:27.569Z,1628813787.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,008AC,186,80,80,91,FF
2021-08-13T00:16:27.570Z,1628813787.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:27.570Z,1628813787.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:27.571Z,1628813787.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:27.981Z,1628813787.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:28.378Z,1628813788.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,297,000,008D9,189,80,80,72,FF
2021-08-13T00:16:28.378Z,1628813788.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:28.805Z,1628813788.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001629.10*53

2021-08-13T00:16:28.873Z,1628813788.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.400002 m, bearing: 353.600369 deg, deltaT: 4.455412 s, approachRate: 0.606006 m/s, LOS rate: -1.520516 deg/s, posRepo size: 4
2021-08-13T00:16:30.909Z,1628813790.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:31.209Z,1628813791.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:31.209Z,1628813791.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:31.209Z,1628813791.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:31.210Z,1628813791.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:31.599Z,1628813791.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
297,000,008D9,189,80,80,72,FF
2021-08-13T00:16:31.599Z,1628813791.599 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:31.599Z,1628813791.599 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:31.601Z,1628813791.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:32.045Z,1628813792.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:32.413Z,1628813792.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,00904,188,80,80,90,FF
2021-08-13T00:16:32.414Z,1628813792.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:32.875Z,1628813792.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001633.13*5B

2021-08-13T00:16:32.937Z,1628813792.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 357.059422 deg, deltaT: 4.024967 s, approachRate: 0.640999 m/s, LOS rate: 0.859399 deg/s, posRepo size: 4
2021-08-13T00:16:35.302Z,1628813795.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:35.649Z,1628813795.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:35.649Z,1628813795.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:35.649Z,1628813795.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:35.650Z,1628813795.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:36.081Z,1628813796.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,00904,188,80,80,90,FF
2021-08-13T00:16:36.081Z,1628813796.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:36.082Z,1628813796.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:36.083Z,1628813796.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:36.461Z,1628813796.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:36.893Z,1628813796.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00935,189,80,80,7F,FF
2021-08-13T00:16:36.895Z,1628813796.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:37.289Z,1628813797.289 [Micromodem](INFO): Nmea in: $SNTTA,0.068842,0.331609,,,001637.61*54

2021-08-13T00:16:37.315Z,1628813797.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 353.650584 deg, deltaT: 4.571113 s, approachRate: 0.643168 m/s, LOS rate: -0.745735 deg/s, posRepo size: 4
2021-08-13T00:16:39.702Z,1628813799.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:40.101Z,1628813800.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:40.101Z,1628813800.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:40.101Z,1628813800.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:40.102Z,1628813800.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:40.493Z,1628813800.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00935,189,80,80,7F,FF
2021-08-13T00:16:40.493Z,1628813800.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:40.493Z,1628813800.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:40.495Z,1628813800.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:40.945Z,1628813800.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:41.301Z,1628813801.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00964,186,80,80,86,FF
2021-08-13T00:16:41.301Z,1628813801.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:41.749Z,1628813801.749 [Micromodem](INFO): Nmea in: $SNTTA,0.074960,,,,001642.02*4F

2021-08-13T00:16:41.792Z,1628813801.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 2.774762 deg, deltaT: 4.370481 s, approachRate: 0.645240 m/s, LOS rate: 2.087680 deg/s, posRepo size: 4
2021-08-13T00:16:44.197Z,1628813804.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:44.577Z,1628813804.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:44.577Z,1628813804.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:44.577Z,1628813804.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:44.578Z,1628813804.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:44.961Z,1628813804.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00964,186,80,80,86,FF
2021-08-13T00:16:44.961Z,1628813804.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:44.961Z,1628813804.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:44.965Z,1628813804.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:45.345Z,1628813805.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:45.755Z,1628813805.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,00991,189,80,80,97,FF
2021-08-13T00:16:45.756Z,1628813805.756 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:46.169Z,1628813806.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001646.49*56

2021-08-13T00:16:46.214Z,1628813806.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.440010 m, bearing: 357.026064 deg, deltaT: 4.410946 s, approachRate: 0.612115 m/s, LOS rate: -1.303278 deg/s, posRepo size: 4
2021-08-13T00:16:48.595Z,1628813808.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:48.977Z,1628813808.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:48.977Z,1628813808.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:48.977Z,1628813808.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:48.978Z,1628813808.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:49.381Z,1628813809.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,00991,189,80,80,97,FF
2021-08-13T00:16:49.381Z,1628813809.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:49.381Z,1628813809.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:49.383Z,1628813809.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:49.789Z,1628813809.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:50.193Z,1628813810.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D3,000,009BD,189,80,80,76,FF
2021-08-13T00:16:50.193Z,1628813810.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:50.636Z,1628813810.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001650.91*54

2021-08-13T00:16:50.660Z,1628813810.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.080002 m, bearing: 350.446816 deg, deltaT: 4.462002 s, approachRate: 0.591661 m/s, LOS rate: -1.474506 deg/s, posRepo size: 4
2021-08-13T00:16:53.155Z,1628813813.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:53.417Z,1628813813.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:53.417Z,1628813813.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:53.417Z,1628813813.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:53.418Z,1628813813.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:53.825Z,1628813813.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D3,000,009BD,189,80,80,76,FF
2021-08-13T00:16:53.825Z,1628813813.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:53.825Z,1628813813.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:53.827Z,1628813813.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:54.245Z,1628813814.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:54.637Z,1628813814.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,009EF,189,80,80,78,FF
2021-08-13T00:16:54.637Z,1628813814.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:55.093Z,1628813815.093 [Micromodem](INFO): Nmea in: $SNTTA,0.083953,,,,001655.35*45

2021-08-13T00:16:55.159Z,1628813815.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 349.917148 deg, deltaT: 4.464944 s, approachRate: 0.671901 m/s, LOS rate: -0.118628 deg/s, posRepo size: 4
2021-08-13T00:16:57.498Z,1628813817.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:16:57.874Z,1628813817.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:16:57.874Z,1628813817.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:16:57.874Z,1628813817.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:16:57.875Z,1628813817.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:16:58.273Z,1628813818.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,009EF,189,80,80,78,FF
2021-08-13T00:16:58.273Z,1628813818.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:16:58.274Z,1628813818.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:16:58.275Z,1628813818.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:16:58.677Z,1628813818.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:16:59.101Z,1628813819.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00A1E,189,80,80,77,FF
2021-08-13T00:16:59.101Z,1628813819.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:16:59.536Z,1628813819.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001659.80*5D

2021-08-13T00:16:59.566Z,1628813819.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 356.173711 deg, deltaT: 4.477545 s, approachRate: 0.629811 m/s, LOS rate: 1.397320 deg/s, posRepo size: 4
2021-08-13T00:17:01.942Z,1628813821.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:02.309Z,1628813822.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:02.309Z,1628813822.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:02.309Z,1628813822.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:02.310Z,1628813822.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:02.719Z,1628813822.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00A1E,189,80,80,77,FF
2021-08-13T00:17:02.719Z,1628813822.719 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:02.719Z,1628813822.719 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:02.721Z,1628813822.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:03.116Z,1628813823.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:03.521Z,1628813823.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00A53,188,80,80,73,FF
2021-08-13T00:17:03.522Z,1628813823.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:03.973Z,1628813823.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001704.24*5A

2021-08-13T00:17:03.999Z,1628813823.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.080002 m, bearing: 354.576649 deg, deltaT: 4.371365 s, approachRate: 0.727460 m/s, LOS rate: -0.365346 deg/s, posRepo size: 4
2021-08-13T00:17:06.390Z,1628813826.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:06.766Z,1628813826.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:06.766Z,1628813826.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:06.767Z,1628813826.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:06.767Z,1628813826.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:07.157Z,1628813827.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00A53,188,80,80,73,FF
2021-08-13T00:17:07.157Z,1628813827.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:07.157Z,1628813827.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:07.159Z,1628813827.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:07.573Z,1628813827.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:08.394Z,1628813828.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001708.68*5E

2021-08-13T00:17:09.245Z,1628813829.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:10.793Z,1628813830.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,73,FF
2021-08-13T00:17:10.793Z,1628813830.793 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,73,FF
2021-08-13T00:17:10.794Z,1628813830.794 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:17:12.070Z,1628813832.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:12.413Z,1628813832.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:12.413Z,1628813832.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:12.413Z,1628813832.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:12.414Z,1628813832.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:12.827Z,1628813832.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,73,FF
2021-08-13T00:17:12.827Z,1628813832.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:12.827Z,1628813832.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:12.829Z,1628813832.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:13.232Z,1628813833.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:13.637Z,1628813833.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00ABE,189,80,80,8E,FF
2021-08-13T00:17:13.638Z,1628813833.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:14.073Z,1628813834.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001714.35*5B

2021-08-13T00:17:14.127Z,1628813834.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.500000 m, bearing: 356.539836 deg, deltaT: 10.119547 s, approachRate: 0.634416 m/s, LOS rate: 0.194000 deg/s, posRepo size: 4
2021-08-13T00:17:16.467Z,1628813836.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:16.876Z,1628813836.876 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:16.877Z,1628813836.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:16.877Z,1628813836.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:16.879Z,1628813836.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:17.261Z,1628813837.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00ABE,189,80,80,8E,FF
2021-08-13T00:17:17.261Z,1628813837.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:17.262Z,1628813837.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:17.263Z,1628813837.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:17.681Z,1628813837.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:18.093Z,1628813838.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,00AEE,186,80,80,A2,FF
2021-08-13T00:17:18.093Z,1628813838.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:18.517Z,1628813838.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001718.79*5F

2021-08-13T00:17:18.540Z,1628813838.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.380005 m, bearing: 41.931105 deg, deltaT: 4.442141 s, approachRate: 0.648337 m/s, LOS rate: 10.218331 deg/s, posRepo size: 4
2021-08-13T00:17:20.987Z,1628813840.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:21.308Z,1628813841.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:21.308Z,1628813841.308 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:21.308Z,1628813841.308 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:21.309Z,1628813841.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:21.697Z,1628813841.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,00AEE,186,80,80,A2,FF
2021-08-13T00:17:21.698Z,1628813841.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:21.698Z,1628813841.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:21.700Z,1628813841.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:22.113Z,1628813842.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:22.522Z,1628813842.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,00B1B,186,80,80,89,FF
2021-08-13T00:17:22.522Z,1628813842.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:22.946Z,1628813842.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001723.22*59

2021-08-13T00:17:22.986Z,1628813842.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.080002 m, bearing: 41.689214 deg, deltaT: 4.418946 s, approachRate: 0.611005 m/s, LOS rate: -0.054740 deg/s, posRepo size: 4
2021-08-13T00:17:25.374Z,1628813845.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:25.745Z,1628813845.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:25.745Z,1628813845.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:25.746Z,1628813845.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:25.746Z,1628813845.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:26.153Z,1628813846.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,00B1B,186,80,80,89,FF
2021-08-13T00:17:26.154Z,1628813846.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:26.154Z,1628813846.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:26.156Z,1628813846.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:26.549Z,1628813846.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:26.961Z,1628813846.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,00B48,189,80,80,9D,FF
2021-08-13T00:17:26.961Z,1628813846.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:27.401Z,1628813847.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001727.68*53

2021-08-13T00:17:27.456Z,1628813847.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.779999 m, bearing: 355.642322 deg, deltaT: 4.506033 s, approachRate: 0.599196 m/s, LOS rate: -10.218941 deg/s, posRepo size: 4
2021-08-13T00:17:29.806Z,1628813849.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:30.185Z,1628813850.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:30.185Z,1628813850.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:30.185Z,1628813850.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:30.186Z,1628813850.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:30.593Z,1628813850.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,00B48,189,80,80,9D,FF
2021-08-13T00:17:30.593Z,1628813850.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:30.593Z,1628813850.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:30.595Z,1628813850.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:30.999Z,1628813850.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:31.409Z,1628813851.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00B76,186,80,80,8B,FF
2021-08-13T00:17:31.409Z,1628813851.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:31.842Z,1628813851.842 [Micromodem](INFO): Nmea in: $SNTTA,0.094328,,,,001732.13*41

2021-08-13T00:17:31.939Z,1628813851.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.540009 m, bearing: 40.811183 deg, deltaT: 4.448758 s, approachRate: 0.620400 m/s, LOS rate: 10.153138 deg/s, posRepo size: 4
2021-08-13T00:17:34.286Z,1628813854.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:34.637Z,1628813854.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:34.637Z,1628813854.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:34.637Z,1628813854.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:34.638Z,1628813854.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:35.050Z,1628813855.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00B76,186,80,80,8B,FF
2021-08-13T00:17:35.050Z,1628813855.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:35.050Z,1628813855.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:35.052Z,1628813855.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:35.457Z,1628813855.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:35.842Z,1628813855.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,00BA3,189,80,80,8B,FF
2021-08-13T00:17:35.842Z,1628813855.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:36.293Z,1628813856.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001736.58*50

2021-08-13T00:17:36.366Z,1628813856.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.239990 m, bearing: 353.563677 deg, deltaT: 4.441625 s, approachRate: 0.607881 m/s, LOS rate: -10.637435 deg/s, posRepo size: 4
2021-08-13T00:17:38.717Z,1628813858.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:39.093Z,1628813859.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:39.093Z,1628813859.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:39.093Z,1628813859.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:39.094Z,1628813859.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:39.488Z,1628813859.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,00BA3,189,80,80,8B,FF
2021-08-13T00:17:39.488Z,1628813859.488 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:39.488Z,1628813859.488 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:39.490Z,1628813859.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:39.933Z,1628813859.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:40.294Z,1628813860.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00BCF,186,80,80,80,FF
2021-08-13T00:17:40.295Z,1628813860.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:40.713Z,1628813860.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001741.02*5F

2021-08-13T00:17:40.755Z,1628813860.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.880005 m, bearing: 42.587759 deg, deltaT: 4.416408 s, approachRate: 0.597774 m/s, LOS rate: 11.100442 deg/s, posRepo size: 4
2021-08-13T00:17:43.166Z,1628813863.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:43.525Z,1628813863.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:43.525Z,1628813863.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:43.525Z,1628813863.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:43.527Z,1628813863.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:43.969Z,1628813863.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00BCF,186,80,80,80,FF
2021-08-13T00:17:43.969Z,1628813863.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:43.969Z,1628813863.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:43.971Z,1628813863.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:44.339Z,1628813864.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:44.742Z,1628813864.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00BCF,186,80,80,80,FF
2021-08-13T00:17:44.743Z,1628813864.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:45.172Z,1628813865.172 [Micromodem](INFO): Nmea in: $SNTTA,0.097447,,,,001745.49*43

2021-08-13T00:17:45.211Z,1628813865.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.880005 m, bearing: 42.696418 deg, deltaT: 4.414577 s, approachRate: 0.000000 m/s, LOS rate: 0.024613 deg/s, posRepo size: 4
2021-08-13T00:17:47.611Z,1628813867.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:47.989Z,1628813867.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:47.989Z,1628813867.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:47.989Z,1628813867.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:47.990Z,1628813867.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:48.365Z,1628813868.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00BCF,186,80,80,80,FF
2021-08-13T00:17:48.365Z,1628813868.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:48.365Z,1628813868.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:48.367Z,1628813868.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:48.773Z,1628813868.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:49.182Z,1628813869.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00C32,185,80,80,89,FF
2021-08-13T00:17:49.182Z,1628813869.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:49.645Z,1628813869.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001749.89*54

2021-08-13T00:17:49.667Z,1628813869.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 43.142518 deg, deltaT: 4.503557 s, approachRate: 1.318958 m/s, LOS rate: 0.099055 deg/s, posRepo size: 4
2021-08-13T00:17:52.103Z,1628813872.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:52.405Z,1628813872.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:52.405Z,1628813872.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:52.405Z,1628813872.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:52.406Z,1628813872.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:52.823Z,1628813872.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00C32,185,80,80,89,FF
2021-08-13T00:17:52.823Z,1628813872.823 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:52.824Z,1628813872.824 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:52.825Z,1628813872.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:53.217Z,1628813873.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:53.625Z,1628813873.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00C63,187,80,80,89,FF
2021-08-13T00:17:53.626Z,1628813873.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:54.057Z,1628813874.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001754.35*5F

2021-08-13T00:17:54.149Z,1628813874.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.759995 m, bearing: 39.262116 deg, deltaT: 4.396885 s, approachRate: 0.668652 m/s, LOS rate: -0.882534 deg/s, posRepo size: 4
2021-08-13T00:17:54.149Z,1628813874.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.76 m. Resuming terminal guidance.
2021-08-13T00:17:54.149Z,1628813874.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:17:56.463Z,1628813876.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:17:56.850Z,1628813876.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:17:56.850Z,1628813876.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:17:56.850Z,1628813876.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:17:56.851Z,1628813876.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:17:57.258Z,1628813877.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00C63,187,80,80,89,FF
2021-08-13T00:17:57.259Z,1628813877.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:17:57.259Z,1628813877.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:17:57.261Z,1628813877.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:17:57.657Z,1628813877.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:17:58.085Z,1628813878.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00C92,186,80,80,8A,FF
2021-08-13T00:17:58.085Z,1628813878.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:17:58.505Z,1628813878.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001758.78*5A

2021-08-13T00:17:58.539Z,1628813878.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.580002 m, bearing: 38.315097 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:17:58.540Z,1628813878.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 38.315097deg and heading rate command to 0 deg/s.
2021-08-13T00:18:00.915Z,1628813880.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:01.293Z,1628813881.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:01.293Z,1628813881.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:01.293Z,1628813881.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:01.294Z,1628813881.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:01.697Z,1628813881.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00C92,186,80,80,8A,FF
2021-08-13T00:18:01.697Z,1628813881.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:01.697Z,1628813881.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:01.699Z,1628813881.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:02.105Z,1628813882.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:02.506Z,1628813882.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:02.506Z,1628813882.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:02.945Z,1628813882.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001803.22*54

2021-08-13T00:18:02.993Z,1628813882.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.519989 m, bearing: 36.896593 deg, deltaT: 4.325304 s, approachRate: 0.679718 m/s, LOS rate: -0.327955 deg/s, posRepo size: 2
2021-08-13T00:18:02.995Z,1628813882.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.519989 m,
      bearing: 36.896593 deg,
      approachRate: 0.679718 m/s,
      LOS rate: -0.327955 deg/s,
      cmd update: -0.983864 deg/s,
      cmd heading: 38.315097 deg,
      new cmd heading: 38.315097 deg.

2021-08-13T00:18:05.383Z,1628813885.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:05.743Z,1628813885.743 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:05.743Z,1628813885.743 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:05.743Z,1628813885.743 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:05.744Z,1628813885.744 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:06.157Z,1628813886.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:06.157Z,1628813886.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:06.157Z,1628813886.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:06.159Z,1628813886.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:06.549Z,1628813886.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:06.946Z,1628813886.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:06.946Z,1628813886.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:07.389Z,1628813887.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001807.69*5F

2021-08-13T00:18:07.431Z,1628813887.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.519989 m, bearing: 62.527670 deg, deltaT: 4.477610 s, approachRate: 0.000000 m/s, LOS rate: 5.724277 deg/s, posRepo size: 3
2021-08-13T00:18:07.437Z,1628813887.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.519989 m,
      bearing: 62.527670 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.724277 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 33.921484 deg,
      new cmd heading: 33.491575 deg.

2021-08-13T00:18:09.799Z,1628813889.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:10.185Z,1628813890.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:10.185Z,1628813890.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:10.185Z,1628813890.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:10.186Z,1628813890.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:10.595Z,1628813890.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:10.595Z,1628813890.595 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:10.595Z,1628813890.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:10.597Z,1628813890.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:11.001Z,1628813891.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:11.392Z,1628813891.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:11.392Z,1628813891.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:11.837Z,1628813891.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001812.12*57

2021-08-13T00:18:11.946Z,1628813891.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.519989 m, bearing: 39.308046 deg, deltaT: 4.445437 s, approachRate: 0.000000 m/s, LOS rate: -5.223249 deg/s, posRepo size: 4
2021-08-13T00:18:11.953Z,1628813891.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.519989 m,
      bearing: 39.308046 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.223249 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 87.358350 deg,
      new cmd heading: 93.352578 deg.

2021-08-13T00:18:14.280Z,1628813894.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:14.645Z,1628813894.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:14.646Z,1628813894.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:14.646Z,1628813894.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:14.647Z,1628813894.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:15.043Z,1628813895.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:15.043Z,1628813895.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:15.043Z,1628813895.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:15.049Z,1628813895.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:15.445Z,1628813895.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:15.838Z,1628813895.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:15.838Z,1628813895.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:16.266Z,1628813896.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001816.57*52

2021-08-13T00:18:16.331Z,1628813896.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.519989 m, bearing: 55.275010 deg, deltaT: 4.498376 s, approachRate: 0.000000 m/s, LOS rate: 3.549495 deg/s, posRepo size: 4
2021-08-13T00:18:16.338Z,1628813896.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.519989 m,
      bearing: 55.275010 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.549495 deg/s,
      cmd update: 10.648485 deg/s,
      cmd heading: 33.370804 deg,
      new cmd heading: 28.742416 deg.

2021-08-13T00:18:18.691Z,1628813898.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:19.093Z,1628813899.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:19.094Z,1628813899.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:19.094Z,1628813899.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:19.095Z,1628813899.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:19.477Z,1628813899.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00CC3,186,80,80,8A,FF
2021-08-13T00:18:19.477Z,1628813899.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:19.477Z,1628813899.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:19.479Z,1628813899.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:19.931Z,1628813899.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:20.294Z,1628813900.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00D66,186,80,80,8A,FF
2021-08-13T00:18:20.294Z,1628813900.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:20.721Z,1628813900.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001821.00*54

2021-08-13T00:18:20.751Z,1628813900.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.300003 m, bearing: 46.425110 deg, deltaT: 4.406980 s, approachRate: 2.219210 m/s, LOS rate: -2.008155 deg/s, posRepo size: 4
2021-08-13T00:18:20.753Z,1628813900.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.300003 m,
      bearing: 46.425110 deg,
      approachRate: 2.219210 m/s,
      LOS rate: -2.008155 deg/s,
      cmd update: -6.024466 deg/s,
      cmd heading: 80.335895 deg,
      new cmd heading: 84.539022 deg.

2021-08-13T00:18:23.149Z,1628813903.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:23.513Z,1628813903.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:23.513Z,1628813903.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:23.513Z,1628813903.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:23.514Z,1628813903.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:23.977Z,1628813903.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00D66,186,80,80,8A,FF
2021-08-13T00:18:23.977Z,1628813903.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:23.977Z,1628813903.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:23.979Z,1628813903.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:24.345Z,1628813904.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:25.146Z,1628813905.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001825.50*55

2021-08-13T00:18:26.077Z,1628813906.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:27.582Z,1628813907.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,8A,FF
2021-08-13T00:18:27.583Z,1628813907.583 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,8A,FF
2021-08-13T00:18:27.583Z,1628813907.583 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:18:28.814Z,1628813908.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:29.198Z,1628813909.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:29.199Z,1628813909.199 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:29.199Z,1628813909.199 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:29.200Z,1628813909.200 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:29.615Z,1628813909.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,8A,FF
2021-08-13T00:18:29.617Z,1628813909.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:29.617Z,1628813909.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:29.619Z,1628813909.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:30.001Z,1628813910.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:30.829Z,1628813910.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,00DB6,189,80,80,55,FF
2021-08-13T00:18:30.829Z,1628813910.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:30.832Z,1628813910.832 [Micromodem](INFO): Nmea in: $SNTTA,0.114870,,,,001831.14*45

2021-08-13T00:18:31.256Z,1628813911.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.100006 m, bearing: 27.990834 deg, deltaT: 10.498273 s, approachRate: 0.457218 m/s, LOS rate: -1.755934 deg/s, posRepo size: 4
2021-08-13T00:18:31.258Z,1628813911.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 27.990834 deg,
      approachRate: 0.457218 m/s,
      LOS rate: -1.755934 deg/s,
      cmd update: -5.267803 deg/s,
      cmd heading: 17.103492 deg,
      new cmd heading: 14.673325 deg.

2021-08-13T00:18:33.666Z,1628813913.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:34.065Z,1628813914.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:34.065Z,1628813914.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:34.065Z,1628813914.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:34.066Z,1628813914.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:34.445Z,1628813914.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,00DB6,189,80,80,55,FF
2021-08-13T00:18:34.445Z,1628813914.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:34.445Z,1628813914.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:34.447Z,1628813914.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:34.860Z,1628813914.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:35.254Z,1628813915.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,00DB6,189,80,80,55,FF
2021-08-13T00:18:35.254Z,1628813915.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:35.685Z,1628813915.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001835.97*5F

2021-08-13T00:18:35.725Z,1628813915.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.100006 m, bearing: 39.528197 deg, deltaT: 4.457448 s, approachRate: 0.000000 m/s, LOS rate: 2.588334 deg/s, posRepo size: 4
2021-08-13T00:18:35.727Z,1628813915.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 39.528197 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.588334 deg/s,
      cmd update: 7.765001 deg/s,
      cmd heading: 353.629158 deg,
      new cmd heading: 351.434839 deg.

2021-08-13T00:18:38.177Z,1628813918.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:38.485Z,1628813918.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:38.485Z,1628813918.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:38.485Z,1628813918.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:38.486Z,1628813918.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:38.897Z,1628813918.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,00DB6,189,80,80,55,FF
2021-08-13T00:18:38.897Z,1628813918.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:38.898Z,1628813918.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:38.899Z,1628813918.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:39.302Z,1628813919.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:39.719Z,1628813919.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00E06,189,80,80,55,FF
2021-08-13T00:18:39.719Z,1628813919.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:40.143Z,1628813920.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001840.42*55

2021-08-13T00:18:40.205Z,1628813920.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.900009 m, bearing: 19.930063 deg, deltaT: 4.439124 s, approachRate: 1.081295 m/s, LOS rate: -4.414865 deg/s, posRepo size: 4
2021-08-13T00:18:40.207Z,1628813920.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.900009 m,
      bearing: 19.930063 deg,
      approachRate: 1.081295 m/s,
      LOS rate: -4.414865 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 28.130099 deg,
      new cmd heading: 31.647520 deg.

2021-08-13T00:18:42.567Z,1628813922.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:42.939Z,1628813922.939 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:42.940Z,1628813922.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:42.940Z,1628813922.940 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:42.941Z,1628813922.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:43.341Z,1628813923.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00E06,189,80,80,55,FF
2021-08-13T00:18:43.341Z,1628813923.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:43.341Z,1628813923.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:43.343Z,1628813923.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:43.755Z,1628813923.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:44.581Z,1628813924.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CD,000,00E3B,187,80,80,3D,FF
2021-08-13T00:18:44.581Z,1628813924.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:18:44.584Z,1628813924.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001844.87*58

2021-08-13T00:18:44.993Z,1628813924.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.080017 m, bearing: 5.093337 deg, deltaT: 4.910042 s, approachRate: 0.647654 m/s, LOS rate: -3.021711 deg/s, posRepo size: 4
2021-08-13T00:18:44.995Z,1628813924.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.080017 m,
      bearing: 5.093337 deg,
      approachRate: 0.647654 m/s,
      LOS rate: -3.021711 deg/s,
      cmd update: -9.065132 deg/s,
      cmd heading: 329.311557 deg,
      new cmd heading: 325.234461 deg.

2021-08-13T00:18:47.405Z,1628813927.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:47.790Z,1628813927.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:47.790Z,1628813927.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:47.791Z,1628813927.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:47.794Z,1628813927.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:48.185Z,1628813928.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CD,000,00E3B,187,80,80,3D,FF
2021-08-13T00:18:48.185Z,1628813928.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:48.185Z,1628813928.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:48.187Z,1628813928.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:48.600Z,1628813928.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:49.435Z,1628813929.435 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001849.71*5C

2021-08-13T00:18:50.292Z,1628813930.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:51.813Z,1628813931.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:51.813Z,1628813931.813 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:51.814Z,1628813931.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:18:53.101Z,1628813933.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:53.439Z,1628813933.439 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:53.439Z,1628813933.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:53.439Z,1628813933.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:53.440Z,1628813933.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:53.837Z,1628813933.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:53.837Z,1628813933.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:53.837Z,1628813933.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:53.839Z,1628813933.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:54.244Z,1628813934.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:18:55.098Z,1628813935.098 [Micromodem](INFO): Nmea in: $SNTTA,0.127165,,,,001855.36*4A

2021-08-13T00:18:55.961Z,1628813935.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:57.473Z,1628813937.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:57.473Z,1628813937.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:57.473Z,1628813937.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:18:58.731Z,1628813938.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:18:59.095Z,1628813939.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:18:59.095Z,1628813939.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:18:59.095Z,1628813939.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:18:59.096Z,1628813939.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:18:59.497Z,1628813939.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,3D,FF
2021-08-13T00:18:59.498Z,1628813939.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:18:59.498Z,1628813939.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:18:59.500Z,1628813939.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:18:59.945Z,1628813939.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:00.729Z,1628813940.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,318,000,00EE4,189,80,80,84,FF
2021-08-13T00:19:00.729Z,1628813940.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:00.732Z,1628813940.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001901.02*55

2021-08-13T00:19:01.156Z,1628813941.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.220001 m, bearing: 294.142315 deg, deltaT: 16.086224 s, approachRate: 0.630352 m/s, LOS rate: -4.410669 deg/s, posRepo size: 4
2021-08-13T00:19:01.158Z,1628813941.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 294.142315 deg,
      approachRate: 0.630352 m/s,
      LOS rate: -4.410669 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 183.410676 deg,
      new cmd heading: 179.710407 deg.

2021-08-13T00:19:03.559Z,1628813943.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:03.977Z,1628813943.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:03.977Z,1628813943.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:03.977Z,1628813943.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:03.978Z,1628813943.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:04.341Z,1628813944.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
318,000,00EE4,189,80,80,84,FF
2021-08-13T00:19:04.341Z,1628813944.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:04.341Z,1628813944.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:04.343Z,1628813944.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:04.748Z,1628813944.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:05.585Z,1628813945.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,00F0D,187,80,80,2B,FF
2021-08-13T00:19:05.585Z,1628813945.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:05.609Z,1628813945.609 [Micromodem](INFO): Nmea in: $SNTTA,0.130539,,,,001905.87*4F

2021-08-13T00:19:06.086Z,1628813946.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.679993 m, bearing: 289.437790 deg, deltaT: 4.892524 s, approachRate: 0.502806 m/s, LOS rate: -0.961574 deg/s, posRepo size: 4
2021-08-13T00:19:06.089Z,1628813946.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.679993 m,
      bearing: 289.437790 deg,
      approachRate: 0.502806 m/s,
      LOS rate: -0.961574 deg/s,
      cmd update: -2.884723 deg/s,
      cmd heading: 124.748748 deg,
      new cmd heading: 119.345915 deg.

2021-08-13T00:19:08.407Z,1628813948.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:08.797Z,1628813948.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:08.797Z,1628813948.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:08.797Z,1628813948.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:08.798Z,1628813948.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:09.186Z,1628813949.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,00F0D,187,80,80,2B,FF
2021-08-13T00:19:09.186Z,1628813949.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:09.186Z,1628813949.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:09.188Z,1628813949.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:09.607Z,1628813949.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:10.421Z,1628813950.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,00F17,189,80,80,85,FF
2021-08-13T00:19:10.421Z,1628813950.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:10.424Z,1628813950.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001910.71*51

2021-08-13T00:19:10.840Z,1628813950.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.279999 m, bearing: 256.748368 deg, deltaT: 4.840470 s, approachRate: 0.123956 m/s, LOS rate: -6.753357 deg/s, posRepo size: 4
2021-08-13T00:19:10.843Z,1628813950.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.279999 m,
      bearing: 256.748368 deg,
      approachRate: 0.123956 m/s,
      LOS rate: -6.753357 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 110.797303 deg,
      new cmd heading: 109.738748 deg.

2021-08-13T00:19:13.257Z,1628813953.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:13.638Z,1628813953.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:13.639Z,1628813953.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:13.639Z,1628813953.639 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:13.640Z,1628813953.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:14.056Z,1628813954.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,00F17,189,80,80,85,FF
2021-08-13T00:19:14.057Z,1628813954.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:14.057Z,1628813954.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:14.059Z,1628813954.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:14.444Z,1628813954.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:15.262Z,1628813955.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,00F32,188,80,80,A3,FF
2021-08-13T00:19:15.262Z,1628813955.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:15.265Z,1628813955.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001915.59*5E

2021-08-13T00:19:15.688Z,1628813955.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.899979 m, bearing: 290.514774 deg, deltaT: 4.843512 s, approachRate: 0.334464 m/s, LOS rate: 6.971472 deg/s, posRepo size: 4
2021-08-13T00:19:15.690Z,1628813955.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.899979 m,
      bearing: 290.514774 deg,
      approachRate: 0.334464 m/s,
      LOS rate: 6.971472 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.673957 deg,
      new cmd heading: 48.210365 deg.

2021-08-13T00:19:18.150Z,1628813958.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:18.486Z,1628813958.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:18.487Z,1628813958.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:18.487Z,1628813958.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:18.488Z,1628813958.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:18.905Z,1628813958.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,00F32,188,80,80,A3,FF
2021-08-13T00:19:18.906Z,1628813958.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:18.906Z,1628813958.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:18.907Z,1628813958.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:19.301Z,1628813959.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:20.109Z,1628813960.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00F56,18A,80,80,32,FF
2021-08-13T00:19:20.109Z,1628813960.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:20.136Z,1628813960.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001920.43*53

2021-08-13T00:19:20.546Z,1628813960.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.059998 m, bearing: 17.110392 deg, deltaT: 4.875671 s, approachRate: 0.443020 m/s, LOS rate: 17.760758 deg/s, posRepo size: 4
2021-08-13T00:19:20.547Z,1628813960.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.760758 deg/s. Setting heading cmd to target bearing of 17.110392deg and heading rate command to 0 deg/s.
2021-08-13T00:19:22.970Z,1628813962.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:23.333Z,1628813963.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:23.333Z,1628813963.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:23.333Z,1628813963.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:23.334Z,1628813963.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:23.737Z,1628813963.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00F56,18A,80,80,32,FF
2021-08-13T00:19:23.737Z,1628813963.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:23.737Z,1628813963.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:23.739Z,1628813963.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:24.144Z,1628813964.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:24.969Z,1628813964.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00F8C,182,80,80,2C,FF
2021-08-13T00:19:24.969Z,1628813964.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:24.973Z,1628813964.973 [Micromodem](INFO): Nmea in: $SNTTA,0.155497,,,,001925.26*40

2021-08-13T00:19:25.395Z,1628813965.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.299988 m, bearing: 7.956557 deg, deltaT: 4.850146 s, approachRate: 0.668019 m/s, LOS rate: -1.887332 deg/s, posRepo size: 4
2021-08-13T00:19:25.397Z,1628813965.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.299988 m,
      bearing: 7.956557 deg,
      approachRate: 0.668019 m/s,
      LOS rate: -1.887332 deg/s,
      cmd update: -5.661996 deg/s,
      cmd heading: 17.110392 deg,
      new cmd heading: 17.110392 deg.

2021-08-13T00:19:26.329Z,1628813966.329 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T00:19:27.162Z,1628813967.162 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:27.794Z,1628813967.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:28.166Z,1628813968.166 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:28.194Z,1628813968.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:28.194Z,1628813968.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:28.194Z,1628813968.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:28.195Z,1628813968.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:28.581Z,1628813968.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00F8C,182,80,80,2C,FF
2021-08-13T00:19:28.581Z,1628813968.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:28.581Z,1628813968.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:28.583Z,1628813968.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:29.000Z,1628813969.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:29.172Z,1628813969.172 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:29.809Z,1628813969.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00FB3,186,80,80,77,FF
2021-08-13T00:19:29.809Z,1628813969.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:29.812Z,1628813969.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001930.11*55

2021-08-13T00:19:30.174Z,1628813970.174 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:30.291Z,1628813970.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.639984 m, bearing: 47.373625 deg, deltaT: 4.778136 s, approachRate: 0.489730 m/s, LOS rate: 8.249466 deg/s, posRepo size: 4
2021-08-13T00:19:30.293Z,1628813970.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.639984 m,
      bearing: 47.373625 deg,
      approachRate: 0.489730 m/s,
      LOS rate: 8.249466 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 349.920979 deg,
      new cmd heading: 347.300301 deg.

2021-08-13T00:19:31.178Z,1628813971.178 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:32.182Z,1628813972.182 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:32.655Z,1628813972.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:33.049Z,1628813973.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:33.049Z,1628813973.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:33.049Z,1628813973.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:33.050Z,1628813973.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:33.186Z,1628813973.186 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:33.429Z,1628813973.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00FB3,186,80,80,77,FF
2021-08-13T00:19:33.429Z,1628813973.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:33.429Z,1628813973.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:33.431Z,1628813973.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:33.836Z,1628813973.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:34.191Z,1628813974.191 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:34.680Z,1628813974.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,00FF0,187,80,80,88,FF
2021-08-13T00:19:34.683Z,1628813974.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:34.688Z,1628813974.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001934.96*5E

2021-08-13T00:19:35.137Z,1628813975.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.300003 m, bearing: 3.870885 deg, deltaT: 4.908542 s, approachRate: 0.745643 m/s, LOS rate: -8.862660 deg/s, posRepo size: 4
2021-08-13T00:19:35.138Z,1628813975.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.300003 m,
      bearing: 3.870885 deg,
      approachRate: 0.745643 m/s,
      LOS rate: -8.862660 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 48.675692 deg,
      new cmd heading: 53.617664 deg.

2021-08-13T00:19:35.197Z,1628813975.197 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:36.198Z,1628813976.198 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:37.202Z,1628813977.202 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T00:19:37.204Z,1628813977.204 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005327
CHAN A1 (24V): -0.022086
CHAN A2 (12V): -0.004684
CHAN A3 (5V): -0.001524
CHAN B0 (3.3V): 0.000784
CHAN B1 (3.15aV): 0.000346
CHAN B2 (3.15bV): 0.000922
CHAN B3 (GND): 0.001847
OPEN: 0.006887
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T00:19:37.500Z,1628813977.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:37.908Z,1628813977.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:37.908Z,1628813977.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:37.909Z,1628813977.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:37.910Z,1628813977.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:38.293Z,1628813978.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,00FF0,187,80,80,88,FF
2021-08-13T00:19:38.293Z,1628813978.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:38.293Z,1628813978.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:38.295Z,1628813978.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:38.688Z,1628813978.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:39.522Z,1628813979.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001939.82*56

2021-08-13T00:19:40.353Z,1628813980.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:41.961Z,1628813981.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:41.961Z,1628813981.961 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:41.961Z,1628813981.961 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:19:43.180Z,1628813983.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:43.533Z,1628813983.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:43.533Z,1628813983.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:43.534Z,1628813983.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:43.535Z,1628813983.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:43.973Z,1628813983.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:43.973Z,1628813983.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:43.973Z,1628813983.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:43.975Z,1628813983.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:44.357Z,1628813984.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:45.167Z,1628813985.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001945.50*52

2021-08-13T00:19:46.074Z,1628813986.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:47.581Z,1628813987.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:47.581Z,1628813987.581 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:47.581Z,1628813987.581 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:19:48.846Z,1628813988.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:49.197Z,1628813989.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:49.197Z,1628813989.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:49.197Z,1628813989.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:49.198Z,1628813989.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:49.610Z,1628813989.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,88,FF
2021-08-13T00:19:49.610Z,1628813989.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:49.610Z,1628813989.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:49.614Z,1628813989.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:50.037Z,1628813990.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:50.837Z,1628813990.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,0108C,186,80,80,54,FF
2021-08-13T00:19:50.838Z,1628813990.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:50.842Z,1628813990.842 [Micromodem](INFO): Nmea in: $SNTTA,,0.079389,,,001951.14*45

2021-08-13T00:19:51.294Z,1628813991.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.659988 m, bearing: 15.922655 deg, deltaT: 16.161126 s, approachRate: 0.579167 m/s, LOS rate: 0.745726 deg/s, posRepo size: 4
2021-08-13T00:19:51.296Z,1628813991.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.659988 m,
      bearing: 15.922655 deg,
      approachRate: 0.579167 m/s,
      LOS rate: 0.745726 deg/s,
      cmd update: 2.237178 deg/s,
      cmd heading: 214.643582 deg,
      new cmd heading: 209.845441 deg.

2021-08-13T00:19:53.700Z,1628813993.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:54.081Z,1628813994.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:54.081Z,1628813994.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:54.081Z,1628813994.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:54.082Z,1628813994.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:54.457Z,1628813994.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,0108C,186,80,80,54,FF
2021-08-13T00:19:54.457Z,1628813994.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:54.457Z,1628813994.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:54.459Z,1628813994.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:54.860Z,1628813994.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:19:55.263Z,1628813995.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,00BE2,189,80,80,54,FF
2021-08-13T00:19:55.264Z,1628813995.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:19:55.689Z,1628813995.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001955.99*56

2021-08-13T00:19:55.712Z,1628813995.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.020004 m, bearing: 293.785643 deg, deltaT: 4.449854 s, approachRate: -16.099401 m/s, LOS rate: -18.458359 deg/s, posRepo size: 4
2021-08-13T00:19:55.713Z,1628813995.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.458359 deg/s. Setting heading cmd to target bearing of 293.785643deg and heading rate command to 0 deg/s.
2021-08-13T00:19:58.147Z,1628813998.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:19:58.493Z,1628813998.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:19:58.493Z,1628813998.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:19:58.493Z,1628813998.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:19:58.494Z,1628813998.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:19:58.905Z,1628813998.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,00BE2,189,80,80,54,FF
2021-08-13T00:19:58.905Z,1628813998.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:19:58.905Z,1628813998.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:19:58.907Z,1628813998.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:19:59.301Z,1628813999.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:00.117Z,1628814000.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,010D6,189,80,80,95,FF
2021-08-13T00:20:00.117Z,1628814000.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:00.120Z,1628814000.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002000.43*5B

2021-08-13T00:20:00.537Z,1628814000.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.099991 m, bearing: 280.295254 deg, deltaT: 4.883472 s, approachRate: 15.579077 m/s, LOS rate: -2.762458 deg/s, posRepo size: 4
2021-08-13T00:20:00.539Z,1628814000.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.099991 m,
      bearing: 280.295254 deg,
      approachRate: 15.579077 m/s,
      LOS rate: -2.762458 deg/s,
      cmd update: -8.287376 deg/s,
      cmd heading: 293.785643 deg,
      new cmd heading: 293.785643 deg.

2021-08-13T00:20:02.951Z,1628814002.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:03.337Z,1628814003.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:03.337Z,1628814003.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:03.337Z,1628814003.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:03.338Z,1628814003.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:03.741Z,1628814003.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,010D6,189,80,80,95,FF
2021-08-13T00:20:03.741Z,1628814003.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:03.742Z,1628814003.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:03.743Z,1628814003.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:04.157Z,1628814004.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:04.557Z,1628814004.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,007C4,187,80,80,99,FF
2021-08-13T00:20:04.557Z,1628814004.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:04.988Z,1628814004.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002005.27*5C

2021-08-13T00:20:05.070Z,1628814005.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.780006 m, bearing: 267.161729 deg, deltaT: 4.343460 s, approachRate: -32.075806 m/s, LOS rate: -3.023747 deg/s, posRepo size: 4
2021-08-13T00:20:05.073Z,1628814005.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.780006 m,
      bearing: 267.161729 deg,
      approachRate: -32.075806 m/s,
      LOS rate: -3.023747 deg/s,
      cmd update: -9.071242 deg/s,
      cmd heading: 257.745644 deg,
      new cmd heading: 253.654556 deg.

2021-08-13T00:20:07.425Z,1628814007.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:07.785Z,1628814007.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:07.785Z,1628814007.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:07.785Z,1628814007.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:07.786Z,1628814007.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:08.193Z,1628814008.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,007C4,187,80,80,99,FF
2021-08-13T00:20:08.193Z,1628814008.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:08.193Z,1628814008.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:08.195Z,1628814008.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:08.588Z,1628814008.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:09.418Z,1628814009.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002009.72*50

2021-08-13T00:20:10.201Z,1628814010.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,501,000,0385F,189,80,80,94,FF
2021-08-13T00:20:10.201Z,1628814010.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:10.651Z,1628814010.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 828.360046 m, bearing: 211.240034 deg, deltaT: 5.693195 s, approachRate: 131.135513 m/s, LOS rate: -9.822551 deg/s, posRepo size: 4
2021-08-13T00:20:10.654Z,1628814010.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 828.360046 m,
      bearing: 211.240034 deg,
      approachRate: 131.135513 m/s,
      LOS rate: -9.822551 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 206.101360 deg,
      new cmd heading: 202.764966 deg.

2021-08-13T00:20:13.078Z,1628814013.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:13.437Z,1628814013.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:13.437Z,1628814013.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:13.437Z,1628814013.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:13.438Z,1628814013.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:13.842Z,1628814013.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
501,000,0385F,189,80,80,94,FF
2021-08-13T00:20:13.842Z,1628814013.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:13.842Z,1628814013.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:13.845Z,1628814013.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:14.260Z,1628814014.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:15.092Z,1628814015.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,010E7,189,80,80,B0,FF
2021-08-13T00:20:15.093Z,1628814015.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:15.095Z,1628814015.095 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002015.37*5C

2021-08-13T00:20:15.488Z,1628814015.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.119980 m, bearing: 192.652780 deg, deltaT: 4.853878 s, approachRate: -124.898079 m/s, LOS rate: -3.829361 deg/s, posRepo size: 4
2021-08-13T00:20:15.490Z,1628814015.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.119980 m,
      bearing: 192.652780 deg,
      approachRate: -124.898079 m/s,
      LOS rate: -3.829361 deg/s,
      cmd update: -11.488084 deg/s,
      cmd heading: 147.854426 deg,
      new cmd heading: 143.461478 deg.

2021-08-13T00:20:17.957Z,1628814017.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:18.289Z,1628814018.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:18.289Z,1628814018.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:18.289Z,1628814018.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:18.290Z,1628814018.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:18.690Z,1628814018.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,010E7,189,80,80,B0,FF
2021-08-13T00:20:18.690Z,1628814018.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:18.690Z,1628814018.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:18.692Z,1628814018.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:19.093Z,1628814019.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:19.944Z,1628814019.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,010CE,189,80,80,9A,FF
2021-08-13T00:20:19.945Z,1628814019.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:19.948Z,1628814019.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002020.22*5E

2021-08-13T00:20:20.354Z,1628814020.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.619980 m, bearing: 175.243202 deg, deltaT: 4.915038 s, approachRate: -0.305186 m/s, LOS rate: -3.542105 deg/s, posRepo size: 4
2021-08-13T00:20:20.357Z,1628814020.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.619980 m,
      bearing: 175.243202 deg,
      approachRate: -0.305186 m/s,
      LOS rate: -3.542105 deg/s,
      cmd update: -10.626314 deg/s,
      cmd heading: 91.962023 deg,
      new cmd heading: 87.741979 deg.

2021-08-13T00:20:22.762Z,1628814022.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:23.129Z,1628814023.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:23.129Z,1628814023.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:23.129Z,1628814023.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:23.130Z,1628814023.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:23.533Z,1628814023.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,010CE,189,80,80,9A,FF
2021-08-13T00:20:23.533Z,1628814023.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:23.533Z,1628814023.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:23.535Z,1628814023.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:23.996Z,1628814023.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:24.010Z,1628814024.010 [Micromodem](INFO): Nmea in: 39330*7E

2021-08-13T00:20:24.011Z,1628814024.011 [Micromodem](ERROR): Response from modem failed NMEA checksum: 39330*7E
 expected 0
2021-08-13T00:20:24.757Z,1628814024.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,010AC,189,80,80,94,FF
2021-08-13T00:20:24.757Z,1628814024.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:25.189Z,1628814025.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.579987 m, bearing: 183.562673 deg, deltaT: 4.737620 s, approachRate: -0.430595 m/s, LOS rate: 1.756044 deg/s, posRepo size: 4
2021-08-13T00:20:25.191Z,1628814025.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.579987 m,
      bearing: 183.562673 deg,
      approachRate: -0.430595 m/s,
      LOS rate: 1.756044 deg/s,
      cmd update: 5.268133 deg/s,
      cmd heading: 41.090120 deg,
      new cmd heading: 36.687936 deg.

2021-08-13T00:20:27.597Z,1628814027.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:27.992Z,1628814027.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:27.992Z,1628814027.992 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:27.993Z,1628814027.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:27.993Z,1628814027.993 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:28.389Z,1628814028.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,010AC,189,80,80,94,FF
2021-08-13T00:20:28.389Z,1628814028.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:28.389Z,1628814028.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:28.391Z,1628814028.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:28.798Z,1628814028.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:29.613Z,1628814029.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,01079,186,80,80,90,FF
2021-08-13T00:20:29.613Z,1628814029.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:29.636Z,1628814029.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002029.92*5C

2021-08-13T00:20:30.079Z,1628814030.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.519989 m, bearing: 184.075729 deg, deltaT: 4.893906 s, approachRate: -0.625267 m/s, LOS rate: 0.104836 deg/s, posRepo size: 4
2021-08-13T00:20:30.082Z,1628814030.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.519989 m,
      bearing: 184.075729 deg,
      approachRate: -0.625267 m/s,
      LOS rate: 0.104836 deg/s,
      cmd update: 0.314507 deg/s,
      cmd heading: 66.850803 deg,
      new cmd heading: 69.037684 deg.

2021-08-13T00:20:32.480Z,1628814032.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:32.829Z,1628814032.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:32.829Z,1628814032.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:32.829Z,1628814032.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:32.830Z,1628814032.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:33.229Z,1628814033.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,01079,186,80,80,90,FF
2021-08-13T00:20:33.229Z,1628814033.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:33.229Z,1628814033.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:33.231Z,1628814033.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:33.641Z,1628814033.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:34.481Z,1628814034.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,01043,182,80,80,A8,FF
2021-08-13T00:20:34.481Z,1628814034.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:34.484Z,1628814034.484 [Micromodem](INFO): Nmea in: $SNTTA,,0.234060,,,002034.75*44

2021-08-13T00:20:34.890Z,1628814034.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.279984 m, bearing: 189.611092 deg, deltaT: 4.831644 s, approachRate: -0.670580 m/s, LOS rate: 1.145648 deg/s, posRepo size: 4
2021-08-13T00:20:34.892Z,1628814034.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.279984 m,
      bearing: 189.611092 deg,
      approachRate: -0.670580 m/s,
      LOS rate: 1.145648 deg/s,
      cmd update: 3.436944 deg/s,
      cmd heading: 68.371602 deg,
      new cmd heading: 68.494340 deg.

2021-08-13T00:20:37.307Z,1628814037.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:37.681Z,1628814037.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:37.681Z,1628814037.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:37.682Z,1628814037.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:37.683Z,1628814037.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:38.097Z,1628814038.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,01043,182,80,80,A8,FF
2021-08-13T00:20:38.098Z,1628814038.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:38.098Z,1628814038.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:38.099Z,1628814038.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:38.505Z,1628814038.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:39.321Z,1628814039.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0100D,186,80,80,98,FF
2021-08-13T00:20:39.321Z,1628814039.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:39.324Z,1628814039.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002039.63*53

2021-08-13T00:20:39.755Z,1628814039.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.039993 m, bearing: 188.038919 deg, deltaT: 4.850638 s, approachRate: -0.667951 m/s, LOS rate: -0.324117 deg/s, posRepo size: 4
2021-08-13T00:20:39.758Z,1628814039.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.039993 m,
      bearing: 188.038919 deg,
      approachRate: -0.667951 m/s,
      LOS rate: -0.324117 deg/s,
      cmd update: -0.972350 deg/s,
      cmd heading: 85.041858 deg,
      new cmd heading: 86.421860 deg.

2021-08-13T00:20:42.179Z,1628814042.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:42.533Z,1628814042.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:42.533Z,1628814042.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:42.533Z,1628814042.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:42.534Z,1628814042.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:42.929Z,1628814042.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0100D,186,80,80,98,FF
2021-08-13T00:20:42.930Z,1628814042.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:42.930Z,1628814042.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:42.931Z,1628814042.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:43.353Z,1628814043.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:44.169Z,1628814044.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9C,000,00FDD,189,80,80,B4,FF
2021-08-13T00:20:44.169Z,1628814044.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:44.172Z,1628814044.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002044.46*5E

2021-08-13T00:20:44.590Z,1628814044.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.159988 m, bearing: 192.777540 deg, deltaT: 4.903023 s, approachRate: -0.587394 m/s, LOS rate: 0.966469 deg/s, posRepo size: 4
2021-08-13T00:20:44.592Z,1628814044.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.159988 m,
      bearing: 192.777540 deg,
      approachRate: -0.587394 m/s,
      LOS rate: 0.966469 deg/s,
      cmd update: 2.899408 deg/s,
      cmd heading: 80.277772 deg,
      new cmd heading: 79.946966 deg.

2021-08-13T00:20:47.029Z,1628814047.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:47.378Z,1628814047.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:47.378Z,1628814047.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:47.378Z,1628814047.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:47.379Z,1628814047.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:47.779Z,1628814047.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9C,000,00FDD,189,80,80,B4,FF
2021-08-13T00:20:47.779Z,1628814047.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:47.779Z,1628814047.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:47.781Z,1628814047.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:48.187Z,1628814048.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:49.030Z,1628814049.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B75,000,00FB8,18A,80,80,91,FF
2021-08-13T00:20:49.031Z,1628814049.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:49.042Z,1628814049.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002049.30*52

2021-08-13T00:20:49.434Z,1628814049.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.940002 m, bearing: 189.432838 deg, deltaT: 4.842268 s, approachRate: -0.458460 m/s, LOS rate: -0.690731 deg/s, posRepo size: 4
2021-08-13T00:20:49.436Z,1628814049.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.940002 m,
      bearing: 189.432838 deg,
      approachRate: -0.458460 m/s,
      LOS rate: -0.690731 deg/s,
      cmd update: -2.072192 deg/s,
      cmd heading: 94.317118 deg,
      new cmd heading: 95.309672 deg.

2021-08-13T00:20:51.842Z,1628814051.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:52.217Z,1628814052.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:52.217Z,1628814052.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:52.217Z,1628814052.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:52.218Z,1628814052.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:52.621Z,1628814052.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B75,000,00FB8,18A,80,80,91,FF
2021-08-13T00:20:52.621Z,1628814052.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:52.621Z,1628814052.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:52.623Z,1628814052.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:53.055Z,1628814053.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:53.890Z,1628814053.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002054.15*59

2021-08-13T00:20:54.645Z,1628814054.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA1,000,03E2C,188,80,80,6B,FF
2021-08-13T00:20:54.645Z,1628814054.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:55.131Z,1628814055.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 917.460083 m, bearing: 154.476831 deg, deltaT: 5.566556 s, approachRate: 128.179810 m/s, LOS rate: -6.279647 deg/s, posRepo size: 4
2021-08-13T00:20:55.133Z,1628814055.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 917.460083 m,
      bearing: 154.476831 deg,
      approachRate: 128.179810 m/s,
      LOS rate: -6.279647 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.773663 deg,
      new cmd heading: 81.803550 deg.

2021-08-13T00:20:57.487Z,1628814057.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:20:57.888Z,1628814057.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:20:57.889Z,1628814057.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:20:57.889Z,1628814057.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:20:57.891Z,1628814057.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:20:58.281Z,1628814058.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA1,000,03E2C,188,80,80,6B,FF
2021-08-13T00:20:58.281Z,1628814058.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:20:58.281Z,1628814058.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:20:58.283Z,1628814058.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:20:58.698Z,1628814058.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:20:59.513Z,1628814059.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00F99,186,80,80,84,FF
2021-08-13T00:20:59.513Z,1628814059.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:20:59.517Z,1628814059.517 [Micromodem](INFO): Nmea in: $SNTTA,0.136503,,,,002059.81*45

2021-08-13T00:20:59.993Z,1628814059.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.080002 m, bearing: 116.070391 deg, deltaT: 4.937878 s, approachRate: -144.876007 m/s, LOS rate: -7.777924 deg/s, posRepo size: 4
2021-08-13T00:20:59.995Z,1628814059.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 116.070391 deg,
      approachRate: -144.876007 m/s,
      LOS rate: -7.777924 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 23.588450 deg,
      new cmd heading: 18.813313 deg.

2021-08-13T00:21:02.346Z,1628814062.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:02.728Z,1628814062.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:02.728Z,1628814062.728 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:02.728Z,1628814062.728 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:02.729Z,1628814062.729 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:03.125Z,1628814063.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00F99,186,80,80,84,FF
2021-08-13T00:21:03.125Z,1628814063.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:03.125Z,1628814063.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:03.127Z,1628814063.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:03.537Z,1628814063.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:03.970Z,1628814063.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,00F99,186,80,80,84,FF
2021-08-13T00:21:03.971Z,1628814063.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:03.998Z,1628814063.998 [Micromodem](INFO): Nmea in: $SNTTA,0.137109,0.136821,,,002104.65*58

2021-08-13T00:21:04.371Z,1628814064.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.080002 m, bearing: 120.144817 deg, deltaT: 4.517861 s, approachRate: 0.000000 m/s, LOS rate: 0.901849 deg/s, posRepo size: 4
2021-08-13T00:21:04.374Z,1628814064.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 120.144817 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.901849 deg/s,
      cmd update: 2.705546 deg/s,
      cmd heading: 329.414484 deg,
      new cmd heading: 326.267844 deg.

2021-08-13T00:21:06.800Z,1628814066.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:07.167Z,1628814067.167 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:07.167Z,1628814067.167 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:07.167Z,1628814067.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:07.168Z,1628814067.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:07.581Z,1628814067.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C94,000,00F99,186,80,80,84,FF
2021-08-13T00:21:07.581Z,1628814067.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:07.581Z,1628814067.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:07.583Z,1628814067.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:07.980Z,1628814067.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:08.801Z,1628814068.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,00FC9,18A,80,80,5D,FF
2021-08-13T00:21:08.801Z,1628814068.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:08.804Z,1628814068.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002109.11*54

2021-08-13T00:21:09.223Z,1628814069.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.959991 m, bearing: 93.514046 deg, deltaT: 4.701250 s, approachRate: 0.612601 m/s, LOS rate: -5.664615 deg/s, posRepo size: 4
2021-08-13T00:21:09.226Z,1628814069.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.959991 m,
      bearing: 93.514046 deg,
      approachRate: 0.612601 m/s,
      LOS rate: -5.664615 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.158602 deg,
      new cmd heading: 343.251586 deg.

2021-08-13T00:21:11.647Z,1628814071.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:12.015Z,1628814072.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:12.016Z,1628814072.016 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:12.017Z,1628814072.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:12.018Z,1628814072.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:12.421Z,1628814072.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1E,000,00FC9,18A,80,80,5D,FF
2021-08-13T00:21:12.421Z,1628814072.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:12.421Z,1628814072.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:12.423Z,1628814072.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:12.833Z,1628814072.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:13.667Z,1628814073.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002113.95*53

2021-08-13T00:21:14.467Z,1628814074.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:16.085Z,1628814076.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:16.085Z,1628814076.085 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:16.085Z,1628814076.085 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:21:17.297Z,1628814077.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:17.682Z,1628814077.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:17.682Z,1628814077.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:17.682Z,1628814077.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:17.683Z,1628814077.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:18.097Z,1628814078.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:18.097Z,1628814078.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:18.098Z,1628814078.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:18.099Z,1628814078.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:18.480Z,1628814078.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:19.309Z,1628814079.309 [Micromodem](INFO): Nmea in: $SNTTA,0.142145,,,,002119.62*48

2021-08-13T00:21:20.158Z,1628814080.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:21.709Z,1628814081.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:21.709Z,1628814081.709 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:21.709Z,1628814081.709 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:21:22.938Z,1628814082.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:23.325Z,1628814083.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:23.325Z,1628814083.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:23.325Z,1628814083.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:23.326Z,1628814083.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:23.737Z,1628814083.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,18A,80,80,5D,FF
2021-08-13T00:21:23.737Z,1628814083.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:23.737Z,1628814083.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:23.739Z,1628814083.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:24.136Z,1628814084.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:24.966Z,1628814084.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002125.26*5E

2021-08-13T00:21:25.766Z,1628814085.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:26.162Z,1628814086.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7B,000,052BF,188,80,80,66,FF
2021-08-13T00:21:26.162Z,1628814086.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:26.593Z,1628814086.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1233.480103 m, bearing: 31.242388 deg, deltaT: 17.417625 s, approachRate: 59.050537 m/s, LOS rate: -3.575209 deg/s, posRepo size: 4
2021-08-13T00:21:26.595Z,1628814086.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1233.480103 m,
      bearing: 31.242388 deg,
      approachRate: 59.050537 m/s,
      LOS rate: -3.575209 deg/s,
      cmd update: -10.725627 deg/s,
      cmd heading: 133.245220 deg,
      new cmd heading: 128.871508 deg.

2021-08-13T00:21:29.051Z,1628814089.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:29.393Z,1628814089.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:29.393Z,1628814089.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:29.393Z,1628814089.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:29.394Z,1628814089.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:29.809Z,1628814089.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7B,000,052BF,188,80,80,66,FF
2021-08-13T00:21:29.809Z,1628814089.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:29.809Z,1628814089.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:29.811Z,1628814089.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:30.209Z,1628814090.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:30.601Z,1628814090.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,006E8,187,80,80,4D,FF
2021-08-13T00:21:30.601Z,1628814090.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:31.045Z,1628814091.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002131.34*58

2021-08-13T00:21:31.071Z,1628814091.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.580002 m, bearing: 20.331433 deg, deltaT: 4.413644 s, approachRate: -263.931610 m/s, LOS rate: -2.472097 deg/s, posRepo size: 4
2021-08-13T00:21:31.073Z,1628814091.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 20.331433 deg,
      approachRate: -263.931610 m/s,
      LOS rate: -2.472097 deg/s,
      cmd update: -7.416291 deg/s,
      cmd heading: 85.861512 deg,
      new cmd heading: 81.308451 deg.

2021-08-13T00:21:33.443Z,1628814093.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:33.829Z,1628814093.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:33.829Z,1628814093.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:33.829Z,1628814093.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:33.830Z,1628814093.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:34.233Z,1628814094.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,006E8,187,80,80,4D,FF
2021-08-13T00:21:34.233Z,1628814094.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:34.233Z,1628814094.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:34.235Z,1628814094.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:34.645Z,1628814094.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:35.475Z,1628814095.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002135.76*5A

2021-08-13T00:21:35.952Z,1628814095.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:37.892Z,1628814097.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:37.893Z,1628814097.893 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:37.893Z,1628814097.893 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:21:38.729Z,1628814098.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:39.089Z,1628814099.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:39.089Z,1628814099.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:39.089Z,1628814099.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:39.090Z,1628814099.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:39.501Z,1628814099.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:39.501Z,1628814099.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:39.501Z,1628814099.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:39.503Z,1628814099.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:39.938Z,1628814099.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:40.715Z,1628814100.715 [Micromodem](INFO): Nmea in: $SNTTA,0.136441,,,,002141.03*40

2021-08-13T00:21:41.546Z,1628814101.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:43.124Z,1628814103.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:43.124Z,1628814103.124 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:43.124Z,1628814103.124 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:21:44.060Z,1628814104.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:44.342Z,1628814104.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:44.342Z,1628814104.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:44.342Z,1628814104.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:44.343Z,1628814104.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:44.733Z,1628814104.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,4D,FF
2021-08-13T00:21:44.733Z,1628814104.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:44.734Z,1628814104.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:44.735Z,1628814104.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:45.151Z,1628814105.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:45.993Z,1628814105.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5E,000,0112A,186,80,80,44,FF
2021-08-13T00:21:45.993Z,1628814105.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:45.996Z,1628814105.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002146.27*5A

2021-08-13T00:21:46.387Z,1628814106.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.139999 m, bearing: 38.323621 deg, deltaT: 15.473552 s, approachRate: 10.182536 m/s, LOS rate: 1.162770 deg/s, posRepo size: 4
2021-08-13T00:21:46.405Z,1628814106.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.139999 m,
      bearing: 38.323621 deg,
      approachRate: 10.182536 m/s,
      LOS rate: 1.162770 deg/s,
      cmd update: 3.488311 deg/s,
      cmd heading: 331.160672 deg,
      new cmd heading: 329.123069 deg.

2021-08-13T00:21:48.815Z,1628814108.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:49.179Z,1628814109.179 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:49.179Z,1628814109.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:49.180Z,1628814109.180 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:49.182Z,1628814109.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:49.589Z,1628814109.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5E,000,0112A,186,80,80,44,FF
2021-08-13T00:21:49.590Z,1628814109.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:49.590Z,1628814109.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:49.592Z,1628814109.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:50.032Z,1628814110.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:50.842Z,1628814110.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,01079,189,80,80,35,FF
2021-08-13T00:21:50.843Z,1628814110.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:21:50.848Z,1628814110.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002151.12*5A

2021-08-13T00:21:51.296Z,1628814111.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.519989 m, bearing: 337.094178 deg, deltaT: 4.751792 s, approachRate: -2.234948 m/s, LOS rate: -12.885547 deg/s, posRepo size: 4
2021-08-13T00:21:51.297Z,1628814111.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.885547 deg/s. Setting heading cmd to target bearing of 337.094178deg and heading rate command to 0 deg/s.
2021-08-13T00:21:53.675Z,1628814113.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:54.058Z,1628814114.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:54.059Z,1628814114.059 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:54.059Z,1628814114.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:54.061Z,1628814114.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:54.445Z,1628814114.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,01079,189,80,80,35,FF
2021-08-13T00:21:54.445Z,1628814114.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:54.446Z,1628814114.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:54.447Z,1628814114.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:21:54.867Z,1628814114.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:21:55.678Z,1628814115.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002155.97*53

2021-08-13T00:21:56.213Z,1628814116.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:58.097Z,1628814118.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:21:58.097Z,1628814118.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:21:58.097Z,1628814118.097 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:21:58.915Z,1628814118.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:21:59.289Z,1628814119.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:21:59.289Z,1628814119.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:21:59.289Z,1628814119.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:21:59.290Z,1628814119.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:21:59.701Z,1628814119.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:21:59.701Z,1628814119.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:21:59.702Z,1628814119.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:21:59.703Z,1628814119.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:00.109Z,1628814120.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:01.739Z,1628814121.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:03.339Z,1628814123.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:03.339Z,1628814123.339 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:03.339Z,1628814123.339 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:22:04.578Z,1628814124.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:04.941Z,1628814124.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:04.941Z,1628814124.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:04.941Z,1628814124.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:04.942Z,1628814124.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:05.349Z,1628814125.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:05.349Z,1628814125.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:05.349Z,1628814125.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:05.351Z,1628814125.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:05.841Z,1628814125.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:06.239Z,1628814126.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:06.239Z,1628814126.239 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:06.658Z,1628814126.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002206.88*58

2021-08-13T00:22:07.102Z,1628814127.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:09.958Z,1628814129.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:11.098Z,1628814131.098 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.155759
2021-08-13T00:22:12.715Z,1628814132.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:13.101Z,1628814133.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:13.101Z,1628814133.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:13.102Z,1628814133.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:13.103Z,1628814133.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:13.514Z,1628814133.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:13.514Z,1628814133.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:13.514Z,1628814133.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:13.516Z,1628814133.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:13.981Z,1628814133.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:14.746Z,1628814134.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002215.04*5E

2021-08-13T00:22:15.569Z,1628814135.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:17.137Z,1628814137.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:17.138Z,1628814137.138 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:17.138Z,1628814137.138 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:22:18.083Z,1628814138.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:18.353Z,1628814138.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:18.354Z,1628814138.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:18.354Z,1628814138.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:18.355Z,1628814138.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:18.753Z,1628814138.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,35,FF
2021-08-13T00:22:18.753Z,1628814138.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:18.753Z,1628814138.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:18.755Z,1628814138.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:19.169Z,1628814139.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:20.013Z,1628814140.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,0127E,189,80,80,66,FF
2021-08-13T00:22:20.014Z,1628814140.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:20.023Z,1628814140.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002220.28*56

2021-08-13T00:22:20.417Z,1628814140.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.539978 m, bearing: 12.171480 deg, deltaT: 29.279833 s, approachRate: 1.059432 m/s, LOS rate: 1.198002 deg/s, posRepo size: 4
2021-08-13T00:22:20.419Z,1628814140.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.539978 m,
      bearing: 12.171480 deg,
      approachRate: 1.059432 m/s,
      LOS rate: 1.198002 deg/s,
      cmd update: 3.594006 deg/s,
      cmd heading: 337.094178 deg,
      new cmd heading: 337.094178 deg.

2021-08-13T00:22:22.823Z,1628814142.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:23.201Z,1628814143.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:23.201Z,1628814143.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:23.201Z,1628814143.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:23.202Z,1628814143.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:23.613Z,1628814143.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,0127E,189,80,80,66,FF
2021-08-13T00:22:23.613Z,1628814143.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:23.613Z,1628814143.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:23.615Z,1628814143.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:24.042Z,1628814144.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:24.881Z,1628814144.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,012AF,189,80,80,4E,FF
2021-08-13T00:22:24.882Z,1628814144.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:24.885Z,1628814144.885 [Micromodem](INFO): Nmea in: $SNTTA,0.168578,,,,002225.14*47

2021-08-13T00:22:25.278Z,1628814145.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.479996 m, bearing: 19.978792 deg, deltaT: 4.768236 s, approachRate: 0.616584 m/s, LOS rate: 1.637358 deg/s, posRepo size: 4
2021-08-13T00:22:25.284Z,1628814145.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.479996 m,
      bearing: 19.978792 deg,
      approachRate: 0.616584 m/s,
      LOS rate: 1.637358 deg/s,
      cmd update: 4.912075 deg/s,
      cmd heading: 354.247324 deg,
      new cmd heading: 355.519653 deg.

2021-08-13T00:22:27.663Z,1628814147.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:28.085Z,1628814148.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:28.085Z,1628814148.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:28.085Z,1628814148.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:28.086Z,1628814148.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:28.453Z,1628814148.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,012AF,189,80,80,4E,FF
2021-08-13T00:22:28.453Z,1628814148.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:28.453Z,1628814148.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:28.455Z,1628814148.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:28.871Z,1628814148.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:29.698Z,1628814149.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002229.98*54

2021-08-13T00:22:30.490Z,1628814150.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:32.097Z,1628814152.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,4E,FF
2021-08-13T00:22:32.097Z,1628814152.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,4E,FF
2021-08-13T00:22:32.097Z,1628814152.097 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:22:33.353Z,1628814153.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:33.709Z,1628814153.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:33.709Z,1628814153.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:33.709Z,1628814153.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:33.710Z,1628814153.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:34.109Z,1628814154.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,4E,FF
2021-08-13T00:22:34.109Z,1628814154.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:34.109Z,1628814154.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:34.111Z,1628814154.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:34.568Z,1628814154.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:35.365Z,1628814155.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,01324,183,80,80,80,FF
2021-08-13T00:22:35.365Z,1628814155.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:35.368Z,1628814155.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002235.63*5D

2021-08-13T00:22:35.812Z,1628814155.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.499969 m, bearing: 30.872762 deg, deltaT: 10.514057 s, approachRate: 0.667675 m/s, LOS rate: 1.036134 deg/s, posRepo size: 4
2021-08-13T00:22:35.814Z,1628814155.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.499969 m,
      bearing: 30.872762 deg,
      approachRate: 0.667675 m/s,
      LOS rate: 1.036134 deg/s,
      cmd update: 3.108402 deg/s,
      cmd heading: 45.873510 deg,
      new cmd heading: 47.729956 deg.

2021-08-13T00:22:38.250Z,1628814158.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:38.597Z,1628814158.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:38.597Z,1628814158.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:38.597Z,1628814158.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:38.598Z,1628814158.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:39.009Z,1628814159.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,01324,183,80,80,80,FF
2021-08-13T00:22:39.009Z,1628814159.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:39.010Z,1628814159.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:39.020Z,1628814159.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:39.405Z,1628814159.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:40.224Z,1628814160.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,01348,187,80,80,5B,FF
2021-08-13T00:22:40.224Z,1628814160.224 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:40.227Z,1628814160.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002240.55*5A

2021-08-13T00:22:40.646Z,1628814160.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.660004 m, bearing: 63.767233 deg, deltaT: 4.884923 s, approachRate: 0.442184 m/s, LOS rate: 6.733877 deg/s, posRepo size: 4
2021-08-13T00:22:40.648Z,1628814160.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.660004 m,
      bearing: 63.767233 deg,
      approachRate: 0.442184 m/s,
      LOS rate: 6.733877 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.019988 deg,
      new cmd heading: 62.073133 deg.

2021-08-13T00:22:43.117Z,1628814163.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:43.446Z,1628814163.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:43.446Z,1628814163.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:43.447Z,1628814163.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:43.469Z,1628814163.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:43.851Z,1628814163.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,01348,187,80,80,5B,FF
2021-08-13T00:22:43.851Z,1628814163.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:43.852Z,1628814163.852 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:43.855Z,1628814163.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:44.274Z,1628814164.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:45.093Z,1628814165.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,0136B,186,80,80,9D,FF
2021-08-13T00:22:45.093Z,1628814165.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:45.096Z,1628814165.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002245.38*54

2021-08-13T00:22:45.503Z,1628814165.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.760010 m, bearing: 89.610538 deg, deltaT: 4.852518 s, approachRate: 0.432766 m/s, LOS rate: 5.325752 deg/s, posRepo size: 4
2021-08-13T00:22:45.506Z,1628814165.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.760010 m,
      bearing: 89.610538 deg,
      approachRate: 0.432766 m/s,
      LOS rate: 5.325752 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 119.376230 deg,
      new cmd heading: 123.378242 deg.

2021-08-13T00:22:48.046Z,1628814168.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:48.293Z,1628814168.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:48.293Z,1628814168.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:48.293Z,1628814168.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:48.294Z,1628814168.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:48.705Z,1628814168.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,0136B,186,80,80,9D,FF
2021-08-13T00:22:48.705Z,1628814168.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:48.705Z,1628814168.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:48.707Z,1628814168.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:49.105Z,1628814169.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:49.957Z,1628814169.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,0137A,186,80,80,7A,FF
2021-08-13T00:22:49.957Z,1628814169.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:49.960Z,1628814169.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002250.23*5A

2021-08-13T00:22:50.356Z,1628814170.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.660004 m, bearing: 73.511817 deg, deltaT: 4.878944 s, approachRate: 0.184465 m/s, LOS rate: -3.299632 deg/s, posRepo size: 4
2021-08-13T00:22:50.358Z,1628814170.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.660004 m,
      bearing: 73.511817 deg,
      approachRate: 0.184465 m/s,
      LOS rate: -3.299632 deg/s,
      cmd update: -9.898898 deg/s,
      cmd heading: 177.894603 deg,
      new cmd heading: 181.603359 deg.

2021-08-13T00:22:52.765Z,1628814172.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:53.141Z,1628814173.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:53.141Z,1628814173.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:53.141Z,1628814173.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:53.142Z,1628814173.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:53.553Z,1628814173.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,0137A,186,80,80,7A,FF
2021-08-13T00:22:53.553Z,1628814173.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:53.553Z,1628814173.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:53.555Z,1628814173.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:53.973Z,1628814173.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:54.363Z,1628814174.363 [Micromodem](INFO): Nmea in: $SNTTA,0.176626,0.109420,,,002255.08*5A

2021-08-13T00:22:54.757Z,1628814174.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,0137B,188,80,80,9D,FF
2021-08-13T00:22:54.757Z,1628814174.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:55.205Z,1628814175.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.720001 m, bearing: 148.159808 deg, deltaT: 4.720835 s, approachRate: 0.012709 m/s, LOS rate: 15.812455 deg/s, posRepo size: 4
2021-08-13T00:22:55.206Z,1628814175.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.812455 deg/s. Setting heading cmd to target bearing of 148.159808deg and heading rate command to 0 deg/s.
2021-08-13T00:22:57.622Z,1628814177.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:22:57.993Z,1628814177.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:22:57.993Z,1628814177.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:22:57.993Z,1628814177.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:22:57.994Z,1628814177.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:22:58.405Z,1628814178.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,0137B,188,80,80,9D,FF
2021-08-13T00:22:58.405Z,1628814178.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:22:58.405Z,1628814178.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:22:58.407Z,1628814178.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:22:58.809Z,1628814178.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:22:59.625Z,1628814179.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01366,189,80,80,8F,FF
2021-08-13T00:22:59.625Z,1628814179.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:22:59.629Z,1628814179.629 [Micromodem](INFO): Nmea in: $SNTTA,0.175784,,,,002259.93*4E

2021-08-13T00:23:00.119Z,1628814180.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.459991 m, bearing: 204.447943 deg, deltaT: 4.904225 s, approachRate: -0.256923 m/s, LOS rate: 11.477478 deg/s, posRepo size: 4
2021-08-13T00:23:00.126Z,1628814180.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.477478 deg/s. Setting heading cmd to target bearing of 204.447943deg and heading rate command to 0 deg/s.
2021-08-13T00:23:02.474Z,1628814182.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:02.837Z,1628814182.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:02.837Z,1628814182.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:02.837Z,1628814182.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:02.838Z,1628814182.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:03.246Z,1628814183.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01366,189,80,80,8F,FF
2021-08-13T00:23:03.246Z,1628814183.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:03.247Z,1628814183.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:03.249Z,1628814183.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:03.649Z,1628814183.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:04.477Z,1628814184.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,01344,189,80,80,A2,FF
2021-08-13T00:23:04.477Z,1628814184.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:04.480Z,1628814184.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002304.78*54

2021-08-13T00:23:04.940Z,1628814184.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.419983 m, bearing: 197.137237 deg, deltaT: 4.857665 s, approachRate: -0.419957 m/s, LOS rate: -1.504984 deg/s, posRepo size: 4
2021-08-13T00:23:04.942Z,1628814184.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.419983 m,
      bearing: 197.137237 deg,
      approachRate: -0.419957 m/s,
      LOS rate: -1.504984 deg/s,
      cmd update: -4.514951 deg/s,
      cmd heading: 204.447943 deg,
      new cmd heading: 204.447943 deg.

2021-08-13T00:23:07.347Z,1628814187.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:07.685Z,1628814187.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:07.685Z,1628814187.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:07.685Z,1628814187.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:07.686Z,1628814187.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:08.102Z,1628814188.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,01344,189,80,80,A2,FF
2021-08-13T00:23:08.102Z,1628814188.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:08.103Z,1628814188.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:08.106Z,1628814188.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:08.501Z,1628814188.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:09.325Z,1628814189.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,01323,186,80,80,7D,FF
2021-08-13T00:23:09.325Z,1628814189.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:09.328Z,1628814189.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002309.63*53

2021-08-13T00:23:09.750Z,1628814189.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.440002 m, bearing: 198.656394 deg, deltaT: 4.841691 s, approachRate: -0.408944 m/s, LOS rate: 0.313766 deg/s, posRepo size: 4
2021-08-13T00:23:09.754Z,1628814189.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.440002 m,
      bearing: 198.656394 deg,
      approachRate: -0.408944 m/s,
      LOS rate: 0.313766 deg/s,
      cmd update: 0.941297 deg/s,
      cmd heading: 182.568976 deg,
      new cmd heading: 180.873788 deg.

2021-08-13T00:23:12.232Z,1628814192.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:12.533Z,1628814192.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:12.533Z,1628814192.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:12.533Z,1628814192.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:12.534Z,1628814192.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:12.937Z,1628814192.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,01323,186,80,80,7D,FF
2021-08-13T00:23:12.937Z,1628814192.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:12.937Z,1628814192.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:12.939Z,1628814192.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:13.353Z,1628814193.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:14.189Z,1628814194.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,012E7,183,80,80,8D,FF
2021-08-13T00:23:14.189Z,1628814194.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:14.192Z,1628814194.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002314.47*59

2021-08-13T00:23:14.618Z,1628814194.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.839996 m, bearing: 193.653157 deg, deltaT: 4.911010 s, approachRate: -0.733048 m/s, LOS rate: -1.018779 deg/s, posRepo size: 4
2021-08-13T00:23:14.621Z,1628814194.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.839996 m,
      bearing: 193.653157 deg,
      approachRate: -0.733048 m/s,
      LOS rate: -1.018779 deg/s,
      cmd update: -3.056338 deg/s,
      cmd heading: 187.192299 deg,
      new cmd heading: 187.503269 deg.

2021-08-13T00:23:17.055Z,1628814197.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:17.401Z,1628814197.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:17.401Z,1628814197.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:17.401Z,1628814197.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:17.402Z,1628814197.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:17.797Z,1628814197.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,012E7,183,80,80,8D,FF
2021-08-13T00:23:17.797Z,1628814197.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:17.797Z,1628814197.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:17.799Z,1628814197.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:18.218Z,1628814198.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:19.041Z,1628814199.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,012AD,184,80,80,90,FF
2021-08-13T00:23:19.042Z,1628814199.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:19.068Z,1628814199.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002319.33*57

2021-08-13T00:23:19.452Z,1628814199.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.359985 m, bearing: 194.654955 deg, deltaT: 4.821212 s, approachRate: -0.721812 m/s, LOS rate: 0.207790 deg/s, posRepo size: 4
2021-08-13T00:23:19.454Z,1628814199.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.359985 m,
      bearing: 194.654955 deg,
      approachRate: -0.721812 m/s,
      LOS rate: 0.207790 deg/s,
      cmd update: 0.623369 deg/s,
      cmd heading: 172.493802 deg,
      new cmd heading: 171.404706 deg.

2021-08-13T00:23:21.946Z,1628814201.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:22.257Z,1628814202.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:22.257Z,1628814202.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:22.257Z,1628814202.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:22.258Z,1628814202.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:22.649Z,1628814202.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,012AD,184,80,80,90,FF
2021-08-13T00:23:22.649Z,1628814202.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:22.649Z,1628814202.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:22.651Z,1628814202.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:23.085Z,1628814203.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:23.889Z,1628814203.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,01277,187,80,80,96,FF
2021-08-13T00:23:23.890Z,1628814203.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:23.899Z,1628814203.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002324.17*5F

2021-08-13T00:23:24.300Z,1628814204.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.119995 m, bearing: 193.228497 deg, deltaT: 4.882958 s, approachRate: -0.663530 m/s, LOS rate: -0.292130 deg/s, posRepo size: 4
2021-08-13T00:23:24.302Z,1628814204.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.119995 m,
      bearing: 193.228497 deg,
      approachRate: -0.663530 m/s,
      LOS rate: -0.292130 deg/s,
      cmd update: -0.876389 deg/s,
      cmd heading: 175.547639 deg,
      new cmd heading: 175.738386 deg.

2021-08-13T00:23:26.703Z,1628814206.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:27.093Z,1628814207.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:27.093Z,1628814207.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:27.094Z,1628814207.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:27.095Z,1628814207.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:27.493Z,1628814207.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,01277,187,80,80,96,FF
2021-08-13T00:23:27.493Z,1628814207.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:27.493Z,1628814207.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:27.495Z,1628814207.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:27.953Z,1628814207.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:28.725Z,1628814208.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0123C,187,80,80,80,FF
2021-08-13T00:23:28.726Z,1628814208.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:28.729Z,1628814208.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002329.02*56

2021-08-13T00:23:29.159Z,1628814209.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.579987 m, bearing: 194.741725 deg, deltaT: 4.750726 s, approachRate: -0.745151 m/s, LOS rate: 0.318526 deg/s, posRepo size: 4
2021-08-13T00:23:29.166Z,1628814209.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.579987 m,
      bearing: 194.741725 deg,
      approachRate: -0.745151 m/s,
      LOS rate: 0.318526 deg/s,
      cmd update: 0.955577 deg/s,
      cmd heading: 171.384559 deg,
      new cmd heading: 171.020928 deg.

2021-08-13T00:23:31.567Z,1628814211.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:31.973Z,1628814211.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:31.973Z,1628814211.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:31.973Z,1628814211.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:31.974Z,1628814211.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:32.345Z,1628814212.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0123C,187,80,80,80,FF
2021-08-13T00:23:32.345Z,1628814212.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:32.345Z,1628814212.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:32.347Z,1628814212.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:32.753Z,1628814212.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:33.573Z,1628814213.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,01203,186,80,80,A9,FF
2021-08-13T00:23:33.574Z,1628814213.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:33.577Z,1628814213.577 [Micromodem](INFO): Nmea in: $SNTTA,0.161961,,,,002333.87*46

2021-08-13T00:23:34.065Z,1628814214.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.159988 m, bearing: 194.612102 deg, deltaT: 4.847772 s, approachRate: -0.705478 m/s, LOS rate: -0.026739 deg/s, posRepo size: 4
2021-08-13T00:23:34.067Z,1628814214.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.159988 m,
      bearing: 194.612102 deg,
      approachRate: -0.705478 m/s,
      LOS rate: -0.026739 deg/s,
      cmd update: -0.080216 deg/s,
      cmd heading: 176.017167 deg,
      new cmd heading: 176.469237 deg.

2021-08-13T00:23:36.419Z,1628814216.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:36.801Z,1628814216.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:36.801Z,1628814216.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:36.801Z,1628814216.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:36.802Z,1628814216.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:37.197Z,1628814217.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,01203,186,80,80,A9,FF
2021-08-13T00:23:37.197Z,1628814217.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:37.197Z,1628814217.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:37.199Z,1628814217.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:37.609Z,1628814217.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:38.433Z,1628814218.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,011CA,186,80,80,9D,FF
2021-08-13T00:23:38.433Z,1628814218.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:38.437Z,1628814218.437 [Micromodem](INFO): Nmea in: $SNTTA,0.159758,,,,002338.72*48

2021-08-13T00:23:38.847Z,1628814218.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.740005 m, bearing: 196.679259 deg, deltaT: 4.880177 s, approachRate: -0.700791 m/s, LOS rate: 0.423582 deg/s, posRepo size: 4
2021-08-13T00:23:38.851Z,1628814218.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.740005 m,
      bearing: 196.679259 deg,
      approachRate: -0.700791 m/s,
      LOS rate: 0.423582 deg/s,
      cmd update: 1.270747 deg/s,
      cmd heading: 175.627317 deg,
      new cmd heading: 175.595669 deg.

2021-08-13T00:23:39.234Z,1628814219.234 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:23:40.062Z,1628814220.062 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:23:41.281Z,1628814221.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:41.646Z,1628814221.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:41.647Z,1628814221.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:41.647Z,1628814221.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:41.648Z,1628814221.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:42.065Z,1628814222.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,011CA,186,80,80,9D,FF
2021-08-13T00:23:42.065Z,1628814222.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:42.065Z,1628814222.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:42.067Z,1628814222.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:42.449Z,1628814222.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:43.281Z,1628814223.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,0118F,187,80,80,7B,FF
2021-08-13T00:23:43.282Z,1628814223.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:43.285Z,1628814223.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002343.59*54

2021-08-13T00:23:43.699Z,1628814223.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.199997 m, bearing: 197.467968 deg, deltaT: 4.838059 s, approachRate: -0.731700 m/s, LOS rate: 0.163022 deg/s, posRepo size: 4
2021-08-13T00:23:43.701Z,1628814223.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.199997 m,
      bearing: 197.467968 deg,
      approachRate: -0.731700 m/s,
      LOS rate: 0.163022 deg/s,
      cmd update: 0.489066 deg/s,
      cmd heading: 181.801211 deg,
      new cmd heading: 182.294325 deg.

2021-08-13T00:23:46.159Z,1628814226.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:46.489Z,1628814226.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:46.489Z,1628814226.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:46.489Z,1628814226.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:46.490Z,1628814226.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:46.897Z,1628814226.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,0118F,187,80,80,7B,FF
2021-08-13T00:23:46.897Z,1628814226.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:46.897Z,1628814226.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:46.899Z,1628814226.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:47.314Z,1628814227.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:48.133Z,1628814228.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,0115A,186,80,80,A1,FF
2021-08-13T00:23:48.133Z,1628814228.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:48.156Z,1628814228.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002348.43*54

2021-08-13T00:23:48.543Z,1628814228.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.019989 m, bearing: 197.458392 deg, deltaT: 4.910879 s, approachRate: -0.647544 m/s, LOS rate: -0.001950 deg/s, posRepo size: 4
2021-08-13T00:23:48.546Z,1628814228.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.019989 m,
      bearing: 197.458392 deg,
      approachRate: -0.647544 m/s,
      LOS rate: -0.001950 deg/s,
      cmd update: -0.005850 deg/s,
      cmd heading: 184.202948 deg,
      new cmd heading: 184.360322 deg.

2021-08-13T00:23:50.153Z,1628814230.153 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:23:50.947Z,1628814230.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:51.357Z,1628814231.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:51.357Z,1628814231.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:51.357Z,1628814231.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:51.358Z,1628814231.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:51.745Z,1628814231.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,0115A,186,80,80,A1,FF
2021-08-13T00:23:51.745Z,1628814231.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:51.745Z,1628814231.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:51.747Z,1628814231.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:52.153Z,1628814232.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:52.981Z,1628814232.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0111C,185,80,80,B5,FF
2021-08-13T00:23:52.982Z,1628814232.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:52.989Z,1628814232.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002353.27*5C

2021-08-13T00:23:53.409Z,1628814233.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.299988 m, bearing: 196.340358 deg, deltaT: 4.825964 s, approachRate: -0.770831 m/s, LOS rate: -0.231671 deg/s, posRepo size: 4
2021-08-13T00:23:53.411Z,1628814233.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.299988 m,
      bearing: 196.340358 deg,
      approachRate: -0.770831 m/s,
      LOS rate: -0.231671 deg/s,
      cmd update: -0.695012 deg/s,
      cmd heading: 184.174906 deg,
      new cmd heading: 184.172605 deg.

2021-08-13T00:23:55.815Z,1628814235.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:23:56.197Z,1628814236.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:23:56.197Z,1628814236.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:23:56.197Z,1628814236.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:23:56.198Z,1628814236.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:23:56.585Z,1628814236.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0111C,185,80,80,B5,FF
2021-08-13T00:23:56.585Z,1628814236.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:23:56.586Z,1628814236.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:23:56.587Z,1628814236.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:23:57.019Z,1628814237.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:23:57.828Z,1628814237.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,010E4,186,80,80,B9,FF
2021-08-13T00:23:57.829Z,1628814237.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:23:57.832Z,1628814237.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002358.11*52

2021-08-13T00:23:58.286Z,1628814238.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.939987 m, bearing: 195.535899 deg, deltaT: 4.852025 s, approachRate: -0.692495 m/s, LOS rate: -0.165799 deg/s, posRepo size: 4
2021-08-13T00:23:58.293Z,1628814238.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.939987 m,
      bearing: 195.535899 deg,
      approachRate: -0.692495 m/s,
      LOS rate: -0.165799 deg/s,
      cmd update: -0.497396 deg/s,
      cmd heading: 180.807375 deg,
      new cmd heading: 180.511505 deg.

2021-08-13T00:24:00.260Z,1628814240.260 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T00:24:00.643Z,1628814240.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:01.058Z,1628814241.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:01.058Z,1628814241.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:01.058Z,1628814241.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:01.059Z,1628814241.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:01.429Z,1628814241.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,010E4,186,80,80,B9,FF
2021-08-13T00:24:01.429Z,1628814241.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:01.429Z,1628814241.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:01.431Z,1628814241.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:01.861Z,1628814241.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:02.679Z,1628814242.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,010AF,187,80,80,A9,FF
2021-08-13T00:24:02.679Z,1628814242.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:02.683Z,1628814242.683 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002402.96*55

2021-08-13T00:24:03.134Z,1628814243.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.759979 m, bearing: 195.108643 deg, deltaT: 4.829801 s, approachRate: -0.658414 m/s, LOS rate: -0.088462 deg/s, posRepo size: 4
2021-08-13T00:24:03.140Z,1628814243.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.759979 m,
      bearing: 195.108643 deg,
      approachRate: -0.658414 m/s,
      LOS rate: -0.088462 deg/s,
      cmd update: -0.265387 deg/s,
      cmd heading: 178.388389 deg,
      new cmd heading: 178.184439 deg.

2021-08-13T00:24:05.491Z,1628814245.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:05.897Z,1628814245.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:05.898Z,1628814245.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:05.898Z,1628814245.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:05.904Z,1628814245.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:06.281Z,1628814246.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,010AF,187,80,80,A9,FF
2021-08-13T00:24:06.281Z,1628814246.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:06.281Z,1628814246.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:06.283Z,1628814246.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:06.693Z,1628814246.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:07.522Z,1628814247.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,01070,186,80,80,80,FF
2021-08-13T00:24:07.522Z,1628814247.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:07.527Z,1628814247.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002407.81*56

2021-08-13T00:24:07.989Z,1628814247.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.979996 m, bearing: 195.214443 deg, deltaT: 4.859916 s, approachRate: -0.777788 m/s, LOS rate: 0.021770 deg/s, posRepo size: 4
2021-08-13T00:24:07.991Z,1628814247.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.979996 m,
      bearing: 195.214443 deg,
      approachRate: -0.777788 m/s,
      LOS rate: 0.021770 deg/s,
      cmd update: 0.065310 deg/s,
      cmd heading: 177.098958 deg,
      new cmd heading: 176.991263 deg.

2021-08-13T00:24:10.044Z,1628814250.044 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:24:10.342Z,1628814250.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:10.734Z,1628814250.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:10.734Z,1628814250.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:10.735Z,1628814250.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:10.735Z,1628814250.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:11.130Z,1628814251.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,01070,186,80,80,80,FF
2021-08-13T00:24:11.130Z,1628814251.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:11.130Z,1628814251.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:11.132Z,1628814251.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:11.546Z,1628814251.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:11.978Z,1628814251.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,01070,186,80,80,80,FF
2021-08-13T00:24:11.978Z,1628814251.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:12.382Z,1628814252.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002412.66*5B

2021-08-13T00:24:12.401Z,1628814252.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.979996 m, bearing: 194.020812 deg, deltaT: 4.521840 s, approachRate: 0.000000 m/s, LOS rate: -0.263970 deg/s, posRepo size: 4
2021-08-13T00:24:12.405Z,1628814252.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.979996 m,
      bearing: 194.020812 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.263970 deg/s,
      cmd update: -0.791910 deg/s,
      cmd heading: 177.394461 deg,
      new cmd heading: 177.413485 deg.

2021-08-13T00:24:14.791Z,1628814254.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:15.177Z,1628814255.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:15.177Z,1628814255.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:15.177Z,1628814255.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:15.178Z,1628814255.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:15.577Z,1628814255.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,01070,186,80,80,80,FF
2021-08-13T00:24:15.577Z,1628814255.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:15.577Z,1628814255.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:15.579Z,1628814255.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:15.980Z,1628814255.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:16.813Z,1628814256.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,01004,187,80,80,B7,FF
2021-08-13T00:24:16.813Z,1628814256.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:16.816Z,1628814256.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002417.11*5E

2021-08-13T00:24:17.240Z,1628814257.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.500000 m, bearing: 195.275682 deg, deltaT: 4.720478 s, approachRate: -1.372741 m/s, LOS rate: 0.265835 deg/s, posRepo size: 4
2021-08-13T00:24:17.242Z,1628814257.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.500000 m,
      bearing: 195.275682 deg,
      approachRate: -1.372741 m/s,
      LOS rate: 0.265835 deg/s,
      cmd update: 0.797506 deg/s,
      cmd heading: 173.653170 deg,
      new cmd heading: 173.330085 deg.

2021-08-13T00:24:19.651Z,1628814259.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:20.021Z,1628814260.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:20.021Z,1628814260.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:20.022Z,1628814260.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:20.023Z,1628814260.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:20.421Z,1628814260.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,01004,187,80,80,B7,FF
2021-08-13T00:24:20.421Z,1628814260.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:20.422Z,1628814260.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:20.423Z,1628814260.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:20.835Z,1628814260.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:21.225Z,1628814261.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,008ED,186,80,80,8C,FF
2021-08-13T00:24:21.226Z,1628814261.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:21.677Z,1628814261.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002421.95*57

2021-08-13T00:24:21.700Z,1628814261.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.599998 m, bearing: 197.067883 deg, deltaT: 4.453396 s, approachRate: -24.453249 m/s, LOS rate: 0.402435 deg/s, posRepo size: 4
2021-08-13T00:24:21.702Z,1628814261.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.599998 m,
      bearing: 197.067883 deg,
      approachRate: -24.453249 m/s,
      LOS rate: 0.402435 deg/s,
      cmd update: 1.207304 deg/s,
      cmd heading: 177.198332 deg,
      new cmd heading: 177.535387 deg.

2021-08-13T00:24:22.545Z,1628814262.545 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-13T00:24:22.545Z,1628814262.545 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T00:24:22.545Z,1628814262.545 [ThrusterServo](ERROR): Communications Fault
2021-08-13T00:24:22.549Z,1628814262.549 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T00:24:22.973Z,1628814262.973 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T00:24:22.973Z,1628814262.973 [ThrusterServo](INFO): Powering down
2021-08-13T00:24:23.761Z,1628814263.761 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T00:24:23.879Z,1628814263.879 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T00:24:23.889Z,1628814263.889 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T00:24:23.890Z,1628814263.890 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T00:24:24.165Z,1628814264.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:24.461Z,1628814264.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:24.461Z,1628814264.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:24.461Z,1628814264.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:24.462Z,1628814264.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:24.874Z,1628814264.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,008ED,186,80,80,8C,FF
2021-08-13T00:24:24.874Z,1628814264.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:24.874Z,1628814264.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:24.877Z,1628814264.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:25.281Z,1628814265.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:25.335Z,1628814265.335 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T00:24:25.335Z,1628814265.335 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T00:24:25.335Z,1628814265.335 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T00:24:25.335Z,1628814265.335 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T00:24:25.336Z,1628814265.336 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T00:24:25.852Z,1628814265.852 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD15611E0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-13T00:24:25.853Z,1628814265.853 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-13T00:24:25.854Z,1628814265.854 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B7071E51A012107EA4E1F9E6D4EE4AE500BA1D92A2872620E3070F56F886A5363DCE1D7E108
2021-08-13T00:24:25.855Z,1628814265.855 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-13T00:24:26.128Z,1628814266.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00F9C,187,80,80,A1,FF
2021-08-13T00:24:26.129Z,1628814266.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:26.131Z,1628814266.131 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-13T00:24:26.529Z,1628814266.529 [Micromodem](INFO): Nmea in: $CADRQ,002427,1,10,0,64,1*75

2021-08-13T00:24:26.530Z,1628814266.530 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15611E0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*40

2021-08-13T00:24:26.683Z,1628814266.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.259995 m, bearing: 197.440210 deg, deltaT: 4.938882 s, approachRate: 20.786079 m/s, LOS rate: 0.075387 deg/s, posRepo size: 4
2021-08-13T00:24:26.689Z,1628814266.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.259995 m,
      bearing: 197.440210 deg,
      approachRate: 20.786079 m/s,
      LOS rate: 0.075387 deg/s,
      cmd update: 0.226161 deg/s,
      cmd heading: 183.164087 deg,
      new cmd heading: 183.724644 deg.

2021-08-13T00:24:26.929Z,1628814266.929 [Micromodem](INFO): Nmea in: $SNTTA,,0.139360,,,002426.41*49

2021-08-13T00:24:26.930Z,1628814266.930 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,0.139360,,,002426.41*49

2021-08-13T00:24:28.137Z,1628814268.137 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T00:24:28.549Z,1628814268.549 [Micromodem](INFO): Nmea in: $CADRQ,002428,1,10,0,64,2*79

2021-08-13T00:24:28.549Z,1628814268.549 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-13T00:24:28.934Z,1628814268.934 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T00:24:28.976Z,1628814268.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:29.333Z,1628814269.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:29.333Z,1628814269.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:29.333Z,1628814269.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:29.334Z,1628814269.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:29.345Z,1628814269.345 [Micromodem](INFO): Nmea in: $CADRQ,002430,1,10,0,64,3*71

2021-08-13T00:24:29.347Z,1628814269.347 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B7071E51A012107EA4E1F9E6D4EE4AE500BA1D92A2872620E3070F56F886A5363DCE1D7E108*34

2021-08-13T00:24:29.789Z,1628814269.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00F9C,187,80,80,A1,FF
2021-08-13T00:24:29.789Z,1628814269.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:29.789Z,1628814269.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:29.791Z,1628814269.791 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T00:24:29.792Z,1628814269.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:30.186Z,1628814270.186 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-13T00:24:30.186Z,1628814270.186 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-08-13T00:24:32.128Z,1628814272.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:33.962Z,1628814273.962 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-13T00:24:33.962Z,1628814273.962 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-13T00:24:34.367Z,1628814274.367 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,002430.918293,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*62

2021-08-13T00:24:34.368Z,1628814274.368 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,002430.918293,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*62

2021-08-13T00:24:34.775Z,1628814274.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:35.592Z,1628814275.592 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.257714
2021-08-13T00:24:37.325Z,1628814277.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:37.593Z,1628814277.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:37.593Z,1628814277.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:37.593Z,1628814277.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:37.594Z,1628814277.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:37.601Z,1628814277.601 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T00:24:37.997Z,1628814277.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00F9C,187,80,80,A1,FF
2021-08-13T00:24:37.997Z,1628814277.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:37.998Z,1628814277.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:37.999Z,1628814277.999 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T00:24:38.395Z,1628814278.395 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-13T00:24:38.395Z,1628814278.395 [Micromodem](INFO): Sent 184 bytes from file Logs/20210812T232438/Courier0030.lzma.parts
2021-08-13T00:24:38.396Z,1628814278.396 [Micromodem](INFO): Packets left to send: 1
2021-08-13T00:24:38.814Z,1628814278.814 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813002437.757428,06,13139,41,0220,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,13.0,5.40,13,-2.40,-01,-0.82,49,14500,4000*42

2021-08-13T00:24:38.814Z,1628814278.814 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813002437.757428,06,13139,41,0220,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,13.0,5.40,13,-2.40,-01,-0.82,49,14500,4000*42

2021-08-13T00:24:38.965Z,1628814278.965 [Micromodem](INFO): Using rate 1 for 10 bytes.
2021-08-13T00:24:38.965Z,1628814278.965 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B6AD15611E0000007400
2021-08-13T00:24:40.069Z,1628814280.069 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T00:24:40.146Z,1628814280.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:40.814Z,1628814280.814 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:41.313Z,1628814281.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:41.324Z,1628814281.324 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T00:24:41.627Z,1628814281.627 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T00:24:42.081Z,1628814282.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00F00,184,80,80,A6,FF
2021-08-13T00:24:42.082Z,1628814282.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:42.085Z,1628814282.085 [Micromodem](INFO): Nmea in: $CADRQ,002442,1,10,0,64,1*76

2021-08-13T00:24:42.085Z,1628814282.085 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-13T00:24:42.086Z,1628814282.086 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15611E0000007400*4C

2021-08-13T00:24:42.276Z,1628814282.276 [Micromodem](INFO): Using rate 0 for 10 bytes.
2021-08-13T00:24:42.277Z,1628814282.277 [Micromodem](INFO): Outgoing frame #1, 10 bytes: B6AD15611E0000007400
2021-08-13T00:24:42.553Z,1628814282.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002442.34*59

2021-08-13T00:24:42.553Z,1628814282.553 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,002442.34*59

2021-08-13T00:24:42.578Z,1628814282.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.900009 m, bearing: 196.152009 deg, deltaT: 16.122679 s, approachRate: -0.580548 m/s, LOS rate: -0.079900 deg/s, posRepo size: 4
2021-08-13T00:24:42.581Z,1628814282.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.900009 m,
      bearing: 196.152009 deg,
      approachRate: -0.580548 m/s,
      LOS rate: -0.079900 deg/s,
      cmd update: -0.239700 deg/s,
      cmd heading: 186.806255 deg,
      new cmd heading: 186.863653 deg.

2021-08-13T00:24:43.741Z,1628814283.741 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,10*4A

2021-08-13T00:24:43.741Z,1628814283.741 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T00:24:44.145Z,1628814284.145 [Micromodem](INFO): Nmea in: $CATXP,10*73

2021-08-13T00:24:44.145Z,1628814284.145 [Micromodem](ERROR): Response from modem unexpected: $CATXP,10*73

2021-08-13T00:24:44.565Z,1628814284.565 [Micromodem](INFO): Nmea in: $CATXF,10*65

2021-08-13T00:24:44.565Z,1628814284.565 [Micromodem](ERROR): Response from modem unexpected: $CATXF,10*65

2021-08-13T00:24:45.030Z,1628814285.030 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,002443.578094,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*52

2021-08-13T00:24:45.031Z,1628814285.031 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,002443.578094,3,0,200,4000,14500,1,1,10,1,1,1,3,10,14500*52

2021-08-13T00:24:45.083Z,1628814285.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:45.349Z,1628814285.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:45.349Z,1628814285.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:45.349Z,1628814285.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:45.350Z,1628814285.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:45.757Z,1628814285.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00F00,184,80,80,A6,FF
2021-08-13T00:24:45.757Z,1628814285.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:45.758Z,1628814285.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:46.209Z,1628814286.209 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T00:24:46.210Z,1628814286.210 [Micromodem](INFO): Sent 2 bytes from file Logs/20210812T232438/Courier0030.lzma.parts
2021-08-13T00:24:46.210Z,1628814286.210 [Micromodem](INFO): Packets left to send: 0
2021-08-13T00:24:46.609Z,1628814286.609 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813002446.581102,06,26623,44,0215,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,13.9,4.23,06,-1.23,-01,-0.41,47,14500,4000*4C

2021-08-13T00:24:46.609Z,1628814286.609 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813002446.581102,06,26623,44,0215,0150,67,02,02,00,02,1,010,001,0,4,1,0,150,13.9,4.23,06,-1.23,-01,-0.41,47,14500,4000*4C

2021-08-13T00:24:47.099Z,1628814287.099 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T00:24:47.099Z,1628814287.099 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T00:24:47.099Z,1628814287.099 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T00:24:47.099Z,1628814287.099 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T00:24:47.099Z,1628814287.099 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T00:24:47.689Z,1628814287.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:50.129Z,1628814290.129 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:24:50.540Z,1628814290.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:51.716Z,1628814291.716 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.365973
2021-08-13T00:24:53.354Z,1628814293.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:53.733Z,1628814293.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:53.733Z,1628814293.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:53.733Z,1628814293.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:53.734Z,1628814293.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:24:54.133Z,1628814294.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00F00,184,80,80,A6,FF
2021-08-13T00:24:54.133Z,1628814294.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:24:54.133Z,1628814294.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:24:54.959Z,1628814294.959 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-13T00:24:55.342Z,1628814295.342 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T00:24:55.342Z,1628814295.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:24:55.394Z,1628814295.394 [Micromodem](INFO): Nmea in: $CADRQ,002456,1,10,0,64,1*73

2021-08-13T00:24:55.395Z,1628814295.395 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,002456,1,10,0,64,1*73

2021-08-13T00:24:55.753Z,1628814295.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:24:56.227Z,1628814296.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:56.601Z,1628814296.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00E55,187,80,80,9A,FF
2021-08-13T00:24:56.601Z,1628814296.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:24:56.605Z,1628814296.605 [Micromodem](INFO): Nmea in: $SNTTA,0.121491,,,,002456.87*44

2021-08-13T00:24:56.992Z,1628814296.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.639999 m, bearing: 196.079513 deg, deltaT: 14.293054 s, approachRate: -0.717832 m/s, LOS rate: -0.005072 deg/s, posRepo size: 4
2021-08-13T00:24:56.994Z,1628814296.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.639999 m,
      bearing: 196.079513 deg,
      approachRate: -0.717832 m/s,
      LOS rate: -0.005072 deg/s,
      cmd update: -0.015216 deg/s,
      cmd heading: 183.374464 deg,
      new cmd heading: 183.289977 deg.

2021-08-13T00:24:59.429Z,1628814299.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:24:59.797Z,1628814299.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:24:59.797Z,1628814299.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:24:59.797Z,1628814299.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:24:59.798Z,1628814299.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:00.193Z,1628814300.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00E55,187,80,80,9A,FF
2021-08-13T00:25:00.193Z,1628814300.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:00.193Z,1628814300.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:00.195Z,1628814300.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:00.616Z,1628814300.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:01.503Z,1628814301.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,00E1B,186,80,80,7F,FF
2021-08-13T00:25:01.504Z,1628814301.504 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:01.507Z,1628814301.507 [Micromodem](INFO): Nmea in: $SNTTA,0.127374,,,,002501.72*47

2021-08-13T00:25:02.149Z,1628814302.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.159988 m, bearing: 196.738845 deg, deltaT: 5.129499 s, approachRate: -0.678431 m/s, LOS rate: 0.128537 deg/s, posRepo size: 4
2021-08-13T00:25:02.151Z,1628814302.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.159988 m,
      bearing: 196.738845 deg,
      approachRate: -0.678431 m/s,
      LOS rate: 0.128537 deg/s,
      cmd update: 0.385612 deg/s,
      cmd heading: 183.296966 deg,
      new cmd heading: 183.290635 deg.

2021-08-13T00:25:04.487Z,1628814304.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:04.881Z,1628814304.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:04.881Z,1628814304.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:04.881Z,1628814304.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:04.882Z,1628814304.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:05.282Z,1628814305.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,00E1B,186,80,80,7F,FF
2021-08-13T00:25:05.282Z,1628814305.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:05.282Z,1628814305.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:05.284Z,1628814305.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:05.694Z,1628814305.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:06.106Z,1628814306.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00DDC,186,80,80,7F,FF
2021-08-13T00:25:06.106Z,1628814306.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:06.111Z,1628814306.111 [Micromodem](INFO): Nmea in: $SNTTA,0.244547,0.244641,,,002506.81*53

2021-08-13T00:25:06.534Z,1628814306.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.380005 m, bearing: 195.786894 deg, deltaT: 4.456688 s, approachRate: -0.848160 m/s, LOS rate: -0.213601 deg/s, posRepo size: 4
2021-08-13T00:25:06.536Z,1628814306.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.380005 m,
      bearing: 195.786894 deg,
      approachRate: -0.848160 m/s,
      LOS rate: -0.213601 deg/s,
      cmd update: -0.640802 deg/s,
      cmd heading: 185.027996 deg,
      new cmd heading: 185.148225 deg.

2021-08-13T00:25:08.946Z,1628814308.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:09.317Z,1628814309.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:09.317Z,1628814309.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:09.317Z,1628814309.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:09.318Z,1628814309.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:09.838Z,1628814309.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00DDC,186,80,80,7F,FF
2021-08-13T00:25:09.838Z,1628814309.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:09.839Z,1628814309.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:09.853Z,1628814309.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:10.268Z,1628814310.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:10.669Z,1628814310.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00DA3,186,80,80,7F,FF
2021-08-13T00:25:10.670Z,1628814310.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:11.109Z,1628814311.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002511.38*52

2021-08-13T00:25:11.154Z,1628814311.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.960007 m, bearing: 197.504673 deg, deltaT: 4.489950 s, approachRate: -0.761701 m/s, LOS rate: 0.382583 deg/s, posRepo size: 4
2021-08-13T00:25:11.156Z,1628814311.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 197.504673 deg,
      approachRate: -0.761701 m/s,
      LOS rate: 0.382583 deg/s,
      cmd update: 1.147749 deg/s,
      cmd heading: 182.164032 deg,
      new cmd heading: 181.867388 deg.

2021-08-13T00:25:13.552Z,1628814313.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:13.933Z,1628814313.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:13.933Z,1628814313.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:13.933Z,1628814313.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:13.933Z,1628814313.933 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:14.299Z,1628814314.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00DA3,186,80,80,7F,FF
2021-08-13T00:25:14.299Z,1628814314.299 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:14.299Z,1628814314.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:14.302Z,1628814314.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:14.697Z,1628814314.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:15.102Z,1628814315.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00DA3,186,80,80,7F,FF
2021-08-13T00:25:15.102Z,1628814315.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:15.541Z,1628814315.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002515.83*56

2021-08-13T00:25:15.575Z,1628814315.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.960007 m, bearing: 197.237012 deg, deltaT: 4.454891 s, approachRate: 0.000000 m/s, LOS rate: -0.060083 deg/s, posRepo size: 4
2021-08-13T00:25:15.577Z,1628814315.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 197.237012 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.060083 deg/s,
      cmd update: -0.180248 deg/s,
      cmd heading: 187.300765 deg,
      new cmd heading: 187.768998 deg.

2021-08-13T00:25:17.544Z,1628814317.544 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T00:25:18.075Z,1628814318.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:18.339Z,1628814318.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:18.339Z,1628814318.339 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:18.340Z,1628814318.340 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:18.341Z,1628814318.341 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:18.741Z,1628814318.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00DA3,186,80,80,7F,FF
2021-08-13T00:25:18.741Z,1628814318.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:18.741Z,1628814318.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:18.743Z,1628814318.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:19.145Z,1628814319.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:19.550Z,1628814319.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00D33,186,80,80,7F,FF
2021-08-13T00:25:19.550Z,1628814319.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:20.054Z,1628814320.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002520.27*5E

2021-08-13T00:25:20.130Z,1628814320.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.240005 m, bearing: 197.846825 deg, deltaT: 4.426287 s, approachRate: -1.518203 m/s, LOS rate: 0.137771 deg/s, posRepo size: 4
2021-08-13T00:25:20.137Z,1628814320.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.240005 m,
      bearing: 197.846825 deg,
      approachRate: -1.518203 m/s,
      LOS rate: 0.137771 deg/s,
      cmd update: 0.413312 deg/s,
      cmd heading: 186.506633 deg,
      new cmd heading: 186.406112 deg.

2021-08-13T00:25:22.112Z,1628814322.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:22.385Z,1628814322.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:22.386Z,1628814322.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:22.386Z,1628814322.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:22.387Z,1628814322.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:22.790Z,1628814322.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00D33,186,80,80,7F,FF
2021-08-13T00:25:22.790Z,1628814322.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:22.790Z,1628814322.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:22.792Z,1628814322.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:23.207Z,1628814323.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:23.598Z,1628814323.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00D07,186,80,80,7F,FF
2021-08-13T00:25:23.599Z,1628814323.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:24.065Z,1628814324.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002524.32*5E

2021-08-13T00:25:24.147Z,1628814324.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.599991 m, bearing: 196.244763 deg, deltaT: 4.065901 s, approachRate: -0.649306 m/s, LOS rate: -0.394024 deg/s, posRepo size: 4
2021-08-13T00:25:24.154Z,1628814324.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.599991 m,
      bearing: 196.244763 deg,
      approachRate: -0.649306 m/s,
      LOS rate: -0.394024 deg/s,
      cmd update: -1.182071 deg/s,
      cmd heading: 188.192887 deg,
      new cmd heading: 188.397432 deg.

2021-08-13T00:25:25.233Z,1628814325.233 [Micromodem](INFO): Nmea in: $CAERR,002526,DATA_TIMEOUT,1*4D

2021-08-13T00:25:26.458Z,1628814326.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:26.829Z,1628814326.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:26.830Z,1628814326.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:26.830Z,1628814326.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:26.831Z,1628814326.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:27.234Z,1628814327.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00D07,186,80,80,7F,FF
2021-08-13T00:25:27.234Z,1628814327.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:27.234Z,1628814327.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:27.236Z,1628814327.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:27.655Z,1628814327.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:28.082Z,1628814328.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00CD5,185,80,80,9C,FF
2021-08-13T00:25:28.082Z,1628814328.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:28.085Z,1628814328.085 [Micromodem](INFO): Nmea in: $SNTTA,0.268074,0.268149,,,002528.76*5D

2021-08-13T00:25:28.479Z,1628814328.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 197.658926 deg, deltaT: 4.559107 s, approachRate: -0.658020 m/s, LOS rate: 0.310184 deg/s, posRepo size: 4
2021-08-13T00:25:28.512Z,1628814328.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 197.658926 deg,
      approachRate: -0.658020 m/s,
      LOS rate: 0.310184 deg/s,
      cmd update: 0.930553 deg/s,
      cmd heading: 182.795918 deg,
      new cmd heading: 182.487006 deg.

2021-08-13T00:25:30.909Z,1628814330.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:31.273Z,1628814331.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:31.274Z,1628814331.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:31.274Z,1628814331.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:31.275Z,1628814331.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:31.679Z,1628814331.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00CD5,185,80,80,9C,FF
2021-08-13T00:25:31.679Z,1628814331.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:31.679Z,1628814331.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:31.681Z,1628814331.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:32.097Z,1628814332.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:32.490Z,1628814332.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6A,000,00CA2,186,80,80,9C,FF
2021-08-13T00:25:32.490Z,1628814332.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:32.933Z,1628814332.933 [Micromodem](INFO): Nmea in: $SNTTA,0.104096,,,,002533.20*4F

2021-08-13T00:25:32.955Z,1628814332.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.540009 m, bearing: 198.084843 deg, deltaT: 4.313761 s, approachRate: -0.709357 m/s, LOS rate: 0.098734 deg/s, posRepo size: 4
2021-08-13T00:25:32.959Z,1628814332.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.540009 m,
      bearing: 198.084843 deg,
      approachRate: -0.709357 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296203 deg/s,
      cmd heading: 186.810591 deg,
      new cmd heading: 187.204261 deg.

2021-08-13T00:25:35.342Z,1628814335.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:35.713Z,1628814335.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:35.713Z,1628814335.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:35.713Z,1628814335.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:35.714Z,1628814335.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:36.121Z,1628814336.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6A,000,00CA2,186,80,80,9C,FF
2021-08-13T00:25:36.121Z,1628814336.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:36.121Z,1628814336.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:36.123Z,1628814336.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:36.541Z,1628814336.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:36.934Z,1628814336.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00C69,187,80,80,9C,FF
2021-08-13T00:25:36.934Z,1628814336.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:37.370Z,1628814337.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002537.65*5E

2021-08-13T00:25:37.399Z,1628814337.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.119995 m, bearing: 199.254868 deg, deltaT: 4.451973 s, approachRate: -0.768202 m/s, LOS rate: 0.262810 deg/s, posRepo size: 4
2021-08-13T00:25:37.403Z,1628814337.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.119995 m,
      bearing: 199.254868 deg,
      approachRate: -0.768202 m/s,
      LOS rate: 0.262810 deg/s,
      cmd update: 0.788431 deg/s,
      cmd heading: 188.128651 deg,
      new cmd heading: 188.252065 deg.

2021-08-13T00:25:39.814Z,1628814339.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:40.161Z,1628814340.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:40.161Z,1628814340.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:40.161Z,1628814340.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:40.162Z,1628814340.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:40.565Z,1628814340.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00C69,187,80,80,9C,FF
2021-08-13T00:25:40.565Z,1628814340.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:40.565Z,1628814340.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:40.567Z,1628814340.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:40.973Z,1628814340.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:41.385Z,1628814341.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00C33,184,80,80,9E,FF
2021-08-13T00:25:41.386Z,1628814341.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:41.826Z,1628814341.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002542.09*56

2021-08-13T00:25:41.857Z,1628814341.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.880005 m, bearing: 197.626346 deg, deltaT: 4.445857 s, approachRate: -0.728766 m/s, LOS rate: -0.366301 deg/s, posRepo size: 4
2021-08-13T00:25:41.859Z,1628814341.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.880005 m,
      bearing: 197.626346 deg,
      approachRate: -0.728766 m/s,
      LOS rate: -0.366301 deg/s,
      cmd update: -1.098903 deg/s,
      cmd heading: 191.638308 deg,
      new cmd heading: 191.970724 deg.

2021-08-13T00:25:44.274Z,1628814344.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:44.601Z,1628814344.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:44.601Z,1628814344.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:44.601Z,1628814344.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:44.602Z,1628814344.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:45.080Z,1628814345.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00C33,184,80,80,9E,FF
2021-08-13T00:25:45.080Z,1628814345.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:45.081Z,1628814345.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:45.082Z,1628814345.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:45.417Z,1628814345.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:46.239Z,1628814346.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00C00,184,80,80,97,FF
2021-08-13T00:25:46.239Z,1628814346.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:46.637Z,1628814346.637 [Micromodem](INFO): Nmea in: $SNTTA,0.102005,,,,002546.61*44

2021-08-13T00:25:46.671Z,1628814346.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.819992 m, bearing: 197.979959 deg, deltaT: 4.919227 s, approachRate: -0.622052 m/s, LOS rate: 0.071884 deg/s, posRepo size: 4
2021-08-13T00:25:46.674Z,1628814346.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.819992 m,
      bearing: 197.979959 deg,
      approachRate: -0.622052 m/s,
      LOS rate: 0.071884 deg/s,
      cmd update: 0.215651 deg/s,
      cmd heading: 186.233371 deg,
      new cmd heading: 185.882651 deg.

2021-08-13T00:25:49.119Z,1628814349.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:49.453Z,1628814349.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:49.453Z,1628814349.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:49.453Z,1628814349.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:49.454Z,1628814349.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:49.862Z,1628814349.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00C00,184,80,80,97,FF
2021-08-13T00:25:49.862Z,1628814349.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:49.863Z,1628814349.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:49.870Z,1628814349.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:50.282Z,1628814350.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:50.669Z,1628814350.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00BC6,187,80,80,A7,FF
2021-08-13T00:25:50.670Z,1628814350.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:51.118Z,1628814351.118 [Micromodem](INFO): Nmea in: $SNTTA,0.111347,,,,002551.40*46

2021-08-13T00:25:51.148Z,1628814351.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 198.393144 deg, deltaT: 4.356414 s, approachRate: -0.798821 m/s, LOS rate: 0.094845 deg/s, posRepo size: 4
2021-08-13T00:25:51.150Z,1628814351.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.339996 m,
      bearing: 198.393144 deg,
      approachRate: -0.798821 m/s,
      LOS rate: 0.094845 deg/s,
      cmd update: 0.284536 deg/s,
      cmd heading: 187.168509 deg,
      new cmd heading: 187.267586 deg.

2021-08-13T00:25:53.527Z,1628814353.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:53.937Z,1628814353.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:53.937Z,1628814353.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:53.937Z,1628814353.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:53.938Z,1628814353.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:54.313Z,1628814354.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00BC6,187,80,80,A7,FF
2021-08-13T00:25:54.313Z,1628814354.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:54.313Z,1628814354.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:54.315Z,1628814354.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:54.709Z,1628814354.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:55.114Z,1628814355.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00B90,184,80,80,9E,FF
2021-08-13T00:25:55.114Z,1628814355.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:25:55.557Z,1628814355.557 [Micromodem](INFO): Nmea in: $SNTTA,0.097260,,,,002555.84*41

2021-08-13T00:25:55.580Z,1628814355.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.100006 m, bearing: 197.196400 deg, deltaT: 4.465531 s, approachRate: -0.725555 m/s, LOS rate: -0.267996 deg/s, posRepo size: 4
2021-08-13T00:25:55.582Z,1628814355.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.100006 m,
      bearing: 197.196400 deg,
      approachRate: -0.725555 m/s,
      LOS rate: -0.267996 deg/s,
      cmd update: -0.803988 deg/s,
      cmd heading: 188.443864 deg,
      new cmd heading: 188.560373 deg.

2021-08-13T00:25:58.059Z,1628814358.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:25:58.349Z,1628814358.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:25:58.349Z,1628814358.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:25:58.349Z,1628814358.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:25:58.350Z,1628814358.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:25:58.753Z,1628814358.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00B90,184,80,80,9E,FF
2021-08-13T00:25:58.754Z,1628814358.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:25:58.754Z,1628814358.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:25:58.756Z,1628814358.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:25:59.165Z,1628814359.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:25:59.561Z,1628814359.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,00B5D,184,80,80,B4,FF
2021-08-13T00:25:59.562Z,1628814359.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:00.018Z,1628814360.018 [Micromodem](INFO): Nmea in: $SNTTA,0.093423,,,,002600.28*41

2021-08-13T00:26:00.108Z,1628814360.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.040009 m, bearing: 198.203374 deg, deltaT: 4.404151 s, approachRate: -0.694799 m/s, LOS rate: 0.228642 deg/s, posRepo size: 4
2021-08-13T00:26:00.110Z,1628814360.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.040009 m,
      bearing: 198.203374 deg,
      approachRate: -0.694799 m/s,
      LOS rate: 0.228642 deg/s,
      cmd update: 0.685927 deg/s,
      cmd heading: 184.899657 deg,
      new cmd heading: 184.474233 deg.

2021-08-13T00:26:02.425Z,1628814362.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:02.785Z,1628814362.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:02.785Z,1628814362.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:02.785Z,1628814362.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:02.786Z,1628814362.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:03.206Z,1628814363.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,00B5D,184,80,80,B4,FF
2021-08-13T00:26:03.206Z,1628814363.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:03.207Z,1628814363.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:03.212Z,1628814363.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:03.601Z,1628814363.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:04.016Z,1628814364.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00B29,187,80,80,BE,FF
2021-08-13T00:26:04.018Z,1628814364.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:04.031Z,1628814364.031 [Micromodem](INFO): Nmea in: $SNTTA,0.097545,0.240676,,,002604.74*56

2021-08-13T00:26:04.466Z,1628814364.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.919998 m, bearing: 200.057511 deg, deltaT: 4.541999 s, approachRate: -0.686925 m/s, LOS rate: 0.408220 deg/s, posRepo size: 4
2021-08-13T00:26:04.468Z,1628814364.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.919998 m,
      bearing: 200.057511 deg,
      approachRate: -0.686925 m/s,
      LOS rate: 0.408220 deg/s,
      cmd update: 1.224661 deg/s,
      cmd heading: 188.014765 deg,
      new cmd heading: 188.241925 deg.

2021-08-13T00:26:06.881Z,1628814366.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:07.234Z,1628814367.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:07.234Z,1628814367.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:07.234Z,1628814367.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:07.235Z,1628814367.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:07.641Z,1628814367.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00B29,187,80,80,BE,FF
2021-08-13T00:26:07.642Z,1628814367.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:07.642Z,1628814367.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:07.643Z,1628814367.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:08.089Z,1628814368.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:08.136Z,1628814368.136 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:26:08.453Z,1628814368.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00AF5,186,80,80,B5,FF
2021-08-13T00:26:08.453Z,1628814368.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:08.903Z,1628814368.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 200.448348 deg, deltaT: 4.370083 s, approachRate: -0.713944 m/s, LOS rate: 0.089435 deg/s, posRepo size: 4
2021-08-13T00:26:08.905Z,1628814368.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.800003 m,
      bearing: 200.448348 deg,
      approachRate: -0.713944 m/s,
      LOS rate: 0.089435 deg/s,
      cmd update: 0.268304 deg/s,
      cmd heading: 193.342527 deg,
      new cmd heading: 193.871765 deg.

2021-08-13T00:26:11.331Z,1628814371.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:11.677Z,1628814371.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:11.677Z,1628814371.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:11.677Z,1628814371.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:11.678Z,1628814371.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:12.087Z,1628814372.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00AF5,186,80,80,B5,FF
2021-08-13T00:26:12.087Z,1628814372.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:12.088Z,1628814372.088 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:12.090Z,1628814372.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:12.493Z,1628814372.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:12.918Z,1628814372.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00ABF,185,80,80,B0,FF
2021-08-13T00:26:12.919Z,1628814372.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:13.329Z,1628814373.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002613.61*5F

2021-08-13T00:26:13.393Z,1628814373.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.560005 m, bearing: 197.946955 deg, deltaT: 4.473782 s, approachRate: -0.724219 m/s, LOS rate: -0.559123 deg/s, posRepo size: 4
2021-08-13T00:26:13.395Z,1628814373.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.560005 m,
      bearing: 197.946955 deg,
      approachRate: -0.724219 m/s,
      LOS rate: -0.559123 deg/s,
      cmd update: -1.677368 deg/s,
      cmd heading: 194.543113 deg,
      new cmd heading: 194.662907 deg.

2021-08-13T00:26:15.333Z,1628814375.333 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:26:15.747Z,1628814375.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:16.117Z,1628814376.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:16.117Z,1628814376.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:16.117Z,1628814376.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:16.118Z,1628814376.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:16.525Z,1628814376.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00ABF,185,80,80,B0,FF
2021-08-13T00:26:16.525Z,1628814376.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:16.525Z,1628814376.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:16.527Z,1628814376.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:16.950Z,1628814376.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:17.333Z,1628814377.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00A8A,183,80,80,C3,FF
2021-08-13T00:26:17.333Z,1628814377.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:17.774Z,1628814377.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002618.05*56

2021-08-13T00:26:17.807Z,1628814377.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.379997 m, bearing: 198.142763 deg, deltaT: 4.428678 s, approachRate: -0.718049 m/s, LOS rate: 0.044214 deg/s, posRepo size: 4
2021-08-13T00:26:17.811Z,1628814377.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.379997 m,
      bearing: 198.142763 deg,
      approachRate: -0.718049 m/s,
      LOS rate: 0.044214 deg/s,
      cmd update: 0.132641 deg/s,
      cmd heading: 187.096636 deg,
      new cmd heading: 186.390043 deg.

2021-08-13T00:26:20.257Z,1628814380.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:20.565Z,1628814380.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:20.565Z,1628814380.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:20.565Z,1628814380.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:20.566Z,1628814380.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:20.965Z,1628814380.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00A8A,183,80,80,C3,FF
2021-08-13T00:26:20.965Z,1628814380.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:20.965Z,1628814380.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:20.967Z,1628814380.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:21.373Z,1628814381.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:21.777Z,1628814381.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0048F,186,80,80,AB,FF
2021-08-13T00:26:21.777Z,1628814381.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:22.209Z,1628814382.209 [Micromodem](INFO): Nmea in: $SNTTA,0.046760,,,,002622.49*4A

2021-08-13T00:26:22.267Z,1628814382.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 199.396923 deg, deltaT: 4.401072 s, approachRate: -20.872189 m/s, LOS rate: 0.284967 deg/s, posRepo size: 4
2021-08-13T00:26:22.285Z,1628814382.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.52 m.
2021-08-13T00:26:22.287Z,1628814382.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.520000 m,
      bearing: 199.396923 deg,
      approachRate: -20.872189 m/s,
      LOS rate: 0.284967 deg/s,
      cmd update: 0.854900 deg/s,
      cmd heading: 187.681533 deg,
      new cmd heading: 187.744206 deg.

2021-08-13T00:26:22.622Z,1628814382.622 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:26:22.659Z,1628814382.659 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:26:22.660Z,1628814382.660 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:26:22.662Z,1628814382.662 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:26:22.664Z,1628814382.664 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:26:22.665Z,1628814382.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:26:22.667Z,1628814382.667 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:26:23.066Z,1628814383.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:26:23.066Z,1628814383.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:26:23.066Z,1628814383.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:26:23.066Z,1628814383.066 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:26:24.631Z,1628814384.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:25.076Z,1628814385.076 [DDM](ERROR): Could not parse whisker state
2021-08-13T00:26:25.085Z,1628814385.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:25.085Z,1628814385.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:25.085Z,1628814385.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:25.086Z,1628814385.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:25.413Z,1628814385.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0048F,186,80,80,AB,FF
2021-08-13T00:26:25.414Z,1628814385.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:25.414Z,1628814385.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:25.415Z,1628814385.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:25.831Z,1628814385.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:26.233Z,1628814386.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00A26,185,80,80,4A,FF
2021-08-13T00:26:26.233Z,1628814386.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:26.317Z,1628814386.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:26:26.657Z,1628814386.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002626.94*53

2021-08-13T00:26:26.691Z,1628814386.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.379997 m, bearing: 196.599250 deg, deltaT: 4.519896 s, approachRate: 18.996012 m/s, LOS rate: -0.618968 deg/s, posRepo size: 4
2021-08-13T00:26:26.693Z,1628814386.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 196.599250 deg,
      approachRate: 18.996012 m/s,
      LOS rate: -0.618968 deg/s,
      cmd update: -1.856905 deg/s,
      cmd heading: 191.541563 deg,
      new cmd heading: 191.867029 deg.

2021-08-13T00:26:27.087Z,1628814387.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:26:27.087Z,1628814387.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:26:27.087Z,1628814387.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:26:27.088Z,1628814387.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:26:27.088Z,1628814387.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:26:27.088Z,1628814387.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:26:27.465Z,1628814387.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:26:27.465Z,1628814387.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:26:27.466Z,1628814387.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:26:27.466Z,1628814387.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:26:29.126Z,1628814389.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:29.449Z,1628814389.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:29.449Z,1628814389.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:29.449Z,1628814389.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:29.450Z,1628814389.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:29.862Z,1628814389.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00A26,185,80,80,4A,FF
2021-08-13T00:26:29.863Z,1628814389.863 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:29.863Z,1628814389.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:29.870Z,1628814389.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:30.256Z,1628814390.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:31.106Z,1628814391.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002631.40*5C

2021-08-13T00:26:31.117Z,1628814391.117 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:26:31.957Z,1628814391.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:33.489Z,1628814393.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,4A,FF
2021-08-13T00:26:33.490Z,1628814393.490 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,4A,FF
2021-08-13T00:26:33.490Z,1628814393.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:26:34.731Z,1628814394.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:35.105Z,1628814395.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:35.105Z,1628814395.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:35.105Z,1628814395.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:35.106Z,1628814395.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:35.538Z,1628814395.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,4A,FF
2021-08-13T00:26:35.538Z,1628814395.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:35.538Z,1628814395.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:35.539Z,1628814395.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:35.977Z,1628814395.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:36.322Z,1628814396.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,009A9,186,80,80,4A,FF
2021-08-13T00:26:36.322Z,1628814396.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:36.761Z,1628814396.761 [Micromodem](INFO): Nmea in: $SNTTA,0.076103,,,,002637.09*4A

2021-08-13T00:26:36.792Z,1628814396.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.880005 m, bearing: 197.215087 deg, deltaT: 10.069864 s, approachRate: -0.744796 m/s, LOS rate: 0.061156 deg/s, posRepo size: 4
2021-08-13T00:26:36.794Z,1628814396.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.880005 m,
      bearing: 197.215087 deg,
      approachRate: -0.744796 m/s,
      LOS rate: 0.061156 deg/s,
      cmd update: 0.183469 deg/s,
      cmd heading: 172.841893 deg,
      new cmd heading: 172.076850 deg.

2021-08-13T00:26:39.199Z,1628814399.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:39.545Z,1628814399.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:39.545Z,1628814399.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:39.545Z,1628814399.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:39.546Z,1628814399.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:39.977Z,1628814399.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,009A9,186,80,80,4A,FF
2021-08-13T00:26:39.977Z,1628814399.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:39.977Z,1628814399.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:39.979Z,1628814399.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:40.119Z,1628814400.119 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:26:40.369Z,1628814400.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:40.767Z,1628814400.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,0097A,186,80,80,9E,FF
2021-08-13T00:26:40.767Z,1628814400.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:41.193Z,1628814401.193 [Micromodem](INFO): Nmea in: $SNTTA,0.071775,,,,002641.51*46

2021-08-13T00:26:41.233Z,1628814401.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.059998 m, bearing: 197.748183 deg, deltaT: 4.399786 s, approachRate: -0.640942 m/s, LOS rate: 0.121164 deg/s, posRepo size: 4
2021-08-13T00:26:41.235Z,1628814401.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.059998 m,
      bearing: 197.748183 deg,
      approachRate: -0.640942 m/s,
      LOS rate: 0.121164 deg/s,
      cmd update: 0.363492 deg/s,
      cmd heading: 173.649867 deg,
      new cmd heading: 173.732197 deg.

2021-08-13T00:26:43.615Z,1628814403.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:44.007Z,1628814404.007 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:44.007Z,1628814404.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:44.007Z,1628814404.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:44.008Z,1628814404.008 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:44.409Z,1628814404.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,0097A,186,80,80,9E,FF
2021-08-13T00:26:44.409Z,1628814404.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:44.410Z,1628814404.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:44.411Z,1628814404.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:44.813Z,1628814404.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:45.213Z,1628814405.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,0094C,186,80,80,BF,FF
2021-08-13T00:26:45.213Z,1628814405.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:45.649Z,1628814405.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002645.94*56

2021-08-13T00:26:45.681Z,1628814405.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.300003 m, bearing: 198.698153 deg, deltaT: 4.474862 s, approachRate: -0.616778 m/s, LOS rate: 0.212290 deg/s, posRepo size: 4
2021-08-13T00:26:45.683Z,1628814405.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.300003 m,
      bearing: 198.698153 deg,
      approachRate: -0.616778 m/s,
      LOS rate: 0.212290 deg/s,
      cmd update: 0.636871 deg/s,
      cmd heading: 175.267646 deg,
      new cmd heading: 175.429934 deg.

2021-08-13T00:26:48.133Z,1628814408.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:48.437Z,1628814408.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:48.437Z,1628814408.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:48.437Z,1628814408.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:48.438Z,1628814408.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:48.846Z,1628814408.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,0094C,186,80,80,BF,FF
2021-08-13T00:26:48.846Z,1628814408.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:48.846Z,1628814408.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:48.849Z,1628814408.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:49.253Z,1628814409.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:49.649Z,1628814409.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00918,187,80,80,AC,FF
2021-08-13T00:26:49.649Z,1628814409.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:50.129Z,1628814410.129 [Micromodem](INFO): Nmea in: $SNTTA,0.067925,,,,002650.38*45

2021-08-13T00:26:50.188Z,1628814410.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 197.807592 deg, deltaT: 4.408256 s, approachRate: -0.707762 m/s, LOS rate: -0.202021 deg/s, posRepo size: 4
2021-08-13T00:26:50.190Z,1628814410.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.180008 m,
      bearing: 197.807592 deg,
      approachRate: -0.707762 m/s,
      LOS rate: -0.202021 deg/s,
      cmd update: -0.606063 deg/s,
      cmd heading: 178.090456 deg,
      new cmd heading: 178.422368 deg.

2021-08-13T00:26:52.179Z,1628814412.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:52.477Z,1628814412.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:52.477Z,1628814412.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:52.478Z,1628814412.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:52.479Z,1628814412.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:52.890Z,1628814412.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00918,187,80,80,AC,FF
2021-08-13T00:26:52.890Z,1628814412.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:52.891Z,1628814412.891 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:52.893Z,1628814412.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:53.297Z,1628814413.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:53.689Z,1628814413.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECB,000,008EC,186,80,80,86,FF
2021-08-13T00:26:53.690Z,1628814413.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:54.133Z,1628814414.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002654.42*5D

2021-08-13T00:26:54.207Z,1628814414.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 196.576259 deg, deltaT: 4.075757 s, approachRate: -0.647732 m/s, LOS rate: -0.302111 deg/s, posRepo size: 4
2021-08-13T00:26:54.213Z,1628814414.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.540009 m,
      bearing: 196.576259 deg,
      approachRate: -0.647732 m/s,
      LOS rate: -0.302111 deg/s,
      cmd update: -0.906334 deg/s,
      cmd heading: 175.622561 deg,
      new cmd heading: 175.338855 deg.

2021-08-13T00:26:55.332Z,1628814415.332 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:26:56.551Z,1628814416.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:26:56.929Z,1628814416.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:26:56.929Z,1628814416.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:26:56.929Z,1628814416.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:26:56.930Z,1628814416.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:26:57.325Z,1628814417.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECB,000,008EC,186,80,80,86,FF
2021-08-13T00:26:57.325Z,1628814417.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:26:57.326Z,1628814417.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:26:57.327Z,1628814417.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:26:57.749Z,1628814417.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:26:58.133Z,1628814418.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,008C0,186,80,80,A4,FF
2021-08-13T00:26:58.133Z,1628814418.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:26:58.581Z,1628814418.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.064160,,,002658.85*41

2021-08-13T00:26:58.604Z,1628814418.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.899994 m, bearing: 201.356900 deg, deltaT: 4.476458 s, approachRate: -0.589755 m/s, LOS rate: 1.067952 deg/s, posRepo size: 4
2021-08-13T00:26:58.606Z,1628814418.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.899994 m,
      bearing: 201.356900 deg,
      approachRate: -0.589755 m/s,
      LOS rate: 1.067952 deg/s,
      cmd update: 3.203855 deg/s,
      cmd heading: 171.561649 deg,
      new cmd heading: 171.213545 deg.

2021-08-13T00:27:00.218Z,1628814420.218 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:27:00.987Z,1628814420.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:01.369Z,1628814421.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:01.370Z,1628814421.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:01.370Z,1628814421.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:01.371Z,1628814421.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:01.781Z,1628814421.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,008C0,186,80,80,A4,FF
2021-08-13T00:27:01.781Z,1628814421.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:01.782Z,1628814421.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:01.783Z,1628814421.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:02.177Z,1628814422.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:03.028Z,1628814423.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002703.31*5A

2021-08-13T00:27:03.827Z,1628814423.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:05.061Z,1628814425.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,008C0,186,80,80,A4,FF
2021-08-13T00:27:05.061Z,1628814425.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,008C0,186,80,80,A4,FF
2021-08-13T00:27:05.061Z,1628814425.061 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:27:06.660Z,1628814426.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:07.043Z,1628814427.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:07.044Z,1628814427.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:07.044Z,1628814427.044 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:07.045Z,1628814427.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:07.435Z,1628814427.435 [DUSBL_Hydroid](INFO): DUSBL response received:,63,E4
!U1,P
,008C0,186,80,80,A4,FF
2021-08-13T00:27:07.436Z,1628814427.436 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:07.436Z,1628814427.436 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:07.439Z,1628814427.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:07.836Z,1628814427.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:08.662Z,1628814428.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002708.96*5C

2021-08-13T00:27:09.475Z,1628814429.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:10.304Z,1628814430.304 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:27:11.089Z,1628814431.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:11.089Z,1628814431.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:11.090Z,1628814431.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:27:12.380Z,1628814432.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:12.677Z,1628814432.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:12.677Z,1628814432.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:12.677Z,1628814432.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:12.678Z,1628814432.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:13.089Z,1628814433.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:13.089Z,1628814433.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:13.089Z,1628814433.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:13.091Z,1628814433.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:13.488Z,1628814433.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:14.327Z,1628814434.327 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002714.62*5A

2021-08-13T00:27:15.162Z,1628814435.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:16.366Z,1628814436.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:16.366Z,1628814436.366 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:16.367Z,1628814436.367 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:27:18.094Z,1628814438.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:18.377Z,1628814438.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:18.377Z,1628814438.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:18.378Z,1628814438.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:18.378Z,1628814438.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:18.773Z,1628814438.773 [DUSBL_Hydroid](INFO): DUSBL response received:,80,63,E4
!U1,P
4
0,186,80,80,A4,FF
2021-08-13T00:27:18.773Z,1628814438.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:18.773Z,1628814438.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:18.775Z,1628814438.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:19.174Z,1628814439.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:20.035Z,1628814440.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002720.30*5A

2021-08-13T00:27:20.815Z,1628814440.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:22.409Z,1628814442.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:22.409Z,1628814442.409 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:22.410Z,1628814442.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:27:23.659Z,1628814443.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:24.044Z,1628814444.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:24.044Z,1628814444.044 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:24.044Z,1628814444.044 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:24.045Z,1628814444.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:24.431Z,1628814444.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:24.431Z,1628814444.431 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:24.431Z,1628814444.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:24.433Z,1628814444.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:24.832Z,1628814444.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:25.658Z,1628814445.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002725.96*53

2021-08-13T00:27:26.189Z,1628814446.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:28.082Z,1628814448.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:28.082Z,1628814448.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:28.082Z,1628814448.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:27:28.891Z,1628814448.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:29.273Z,1628814449.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:29.273Z,1628814449.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:29.273Z,1628814449.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:29.274Z,1628814449.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:29.677Z,1628814449.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,A4,FF
2021-08-13T00:27:29.677Z,1628814449.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:29.677Z,1628814449.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:29.679Z,1628814449.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:30.128Z,1628814450.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:30.227Z,1628814450.227 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:27:30.485Z,1628814450.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0077B,18A,80,80,B1,FF
2021-08-13T00:27:30.485Z,1628814450.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:30.934Z,1628814450.934 [Micromodem](INFO): Nmea in: $SNTTA,0.074158,,,,002731.21*4B

2021-08-13T00:27:30.957Z,1628814450.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 202.837808 deg, deltaT: 32.282909 s, approachRate: -0.604035 m/s, LOS rate: 0.045873 deg/s, posRepo size: 4
2021-08-13T00:27:30.959Z,1628814450.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.400002 m,
      bearing: 202.837808 deg,
      approachRate: -0.604035 m/s,
      LOS rate: 0.045873 deg/s,
      cmd update: 0.137618 deg/s,
      cmd heading: 274.991411 deg,
      new cmd heading: 276.446694 deg.

2021-08-13T00:27:33.362Z,1628814453.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:33.721Z,1628814453.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:33.721Z,1628814453.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:33.722Z,1628814453.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:33.723Z,1628814453.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:34.121Z,1628814454.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0077B,18A,80,80,B1,FF
2021-08-13T00:27:34.121Z,1628814454.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:34.121Z,1628814454.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:34.123Z,1628814454.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:34.533Z,1628814454.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:34.929Z,1628814454.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,00766,189,80,80,82,FF
2021-08-13T00:27:34.929Z,1628814454.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:35.361Z,1628814455.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002735.65*5E

2021-08-13T00:27:35.421Z,1628814455.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.139999 m, bearing: 310.967366 deg, deltaT: 4.470274 s, approachRate: -0.281862 m/s, LOS rate: 24.188575 deg/s, posRepo size: 4
2021-08-13T00:27:35.421Z,1628814455.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.188575 deg/s. Setting heading cmd to target bearing of 310.967366deg and heading rate command to 0 deg/s.
2021-08-13T00:27:37.780Z,1628814457.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:38.165Z,1628814458.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:38.165Z,1628814458.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:38.166Z,1628814458.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:38.167Z,1628814458.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:38.573Z,1628814458.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,00766,189,80,80,82,FF
2021-08-13T00:27:38.573Z,1628814458.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:38.573Z,1628814458.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:38.575Z,1628814458.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:38.973Z,1628814458.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:39.373Z,1628814459.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0075E,189,80,80,9A,FF
2021-08-13T00:27:39.373Z,1628814459.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:39.817Z,1628814459.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002740.10*5E

2021-08-13T00:27:39.859Z,1628814459.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.659996 m, bearing: 221.225893 deg, deltaT: 4.483225 s, approachRate: -0.107067 m/s, LOS rate: -20.017169 deg/s, posRepo size: 4
2021-08-13T00:27:39.861Z,1628814459.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.017169 deg/s. Setting heading cmd to target bearing of 221.225893deg and heading rate command to 0 deg/s.
2021-08-13T00:27:42.281Z,1628814462.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:42.605Z,1628814462.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:42.605Z,1628814462.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:42.605Z,1628814462.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:42.606Z,1628814462.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:43.017Z,1628814463.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0075E,189,80,80,9A,FF
2021-08-13T00:27:43.017Z,1628814463.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:43.018Z,1628814463.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:43.023Z,1628814463.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:43.417Z,1628814463.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:43.821Z,1628814463.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,00763,185,80,80,4E,FF
2021-08-13T00:27:43.821Z,1628814463.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:44.257Z,1628814464.257 [Micromodem](INFO): Nmea in: $SNTTA,0.093779,,,,002744.55*46

2021-08-13T00:27:44.337Z,1628814464.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 281.423274 deg, deltaT: 4.409514 s, approachRate: 0.068035 m/s, LOS rate: 13.651704 deg/s, posRepo size: 4
2021-08-13T00:27:44.338Z,1628814464.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.651704 deg/s. Setting heading cmd to target bearing of 281.423274deg and heading rate command to 0 deg/s.
2021-08-13T00:27:46.663Z,1628814466.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:47.095Z,1628814467.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:47.095Z,1628814467.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:47.095Z,1628814467.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:47.096Z,1628814467.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:47.458Z,1628814467.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,00763,185,80,80,4E,FF
2021-08-13T00:27:47.458Z,1628814467.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:47.458Z,1628814467.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:47.460Z,1628814467.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:47.859Z,1628814467.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:48.277Z,1628814468.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,399,000,00771,189,80,80,95,FF
2021-08-13T00:27:48.278Z,1628814468.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:48.697Z,1628814468.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002748.98*56

2021-08-13T00:27:48.744Z,1628814468.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 261.983763 deg, deltaT: 4.498174 s, approachRate: 0.186743 m/s, LOS rate: -4.321645 deg/s, posRepo size: 4
2021-08-13T00:27:48.746Z,1628814468.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 261.983763 deg,
      approachRate: 0.186743 m/s,
      LOS rate: -4.321645 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.423274 deg,
      new cmd heading: 281.423274 deg.

2021-08-13T00:27:51.126Z,1628814471.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:51.505Z,1628814471.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:51.505Z,1628814471.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:51.506Z,1628814471.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:51.507Z,1628814471.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:51.945Z,1628814471.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
399,000,00771,189,80,80,95,FF
2021-08-13T00:27:51.945Z,1628814471.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:51.945Z,1628814471.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:51.947Z,1628814471.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:52.374Z,1628814472.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:52.773Z,1628814472.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6E,000,0077C,189,80,80,99,FF
2021-08-13T00:27:52.773Z,1628814472.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:53.202Z,1628814473.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002753.47*5E

2021-08-13T00:27:53.229Z,1628814473.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 336.527874 deg, deltaT: 4.484223 s, approachRate: 0.147184 m/s, LOS rate: 16.623641 deg/s, posRepo size: 4
2021-08-13T00:27:53.230Z,1628814473.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.623641 deg/s. Setting heading cmd to target bearing of 336.527874deg and heading rate command to 0 deg/s.
2021-08-13T00:27:55.616Z,1628814475.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:27:56.005Z,1628814476.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:27:56.005Z,1628814476.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:27:56.005Z,1628814476.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:27:56.006Z,1628814476.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:27:56.401Z,1628814476.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6E,000,0077C,189,80,80,99,FF
2021-08-13T00:27:56.401Z,1628814476.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:27:56.401Z,1628814476.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:27:56.403Z,1628814476.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:27:56.805Z,1628814476.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:27:57.205Z,1628814477.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0077B,189,80,80,BA,FF
2021-08-13T00:27:57.205Z,1628814477.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:27:57.653Z,1628814477.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002757.93*53

2021-08-13T00:27:57.670Z,1628814477.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 209.927421 deg, deltaT: 4.421908 s, approachRate: -0.013570 m/s, LOS rate: -28.630278 deg/s, posRepo size: 4
2021-08-13T00:27:57.670Z,1628814477.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -28.630278 deg/s. Setting heading cmd to target bearing of 209.927421deg and heading rate command to 0 deg/s.
2021-08-13T00:28:00.135Z,1628814480.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:00.441Z,1628814480.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:00.441Z,1628814480.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:00.441Z,1628814480.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:00.442Z,1628814480.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:00.849Z,1628814480.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0077B,189,80,80,BA,FF
2021-08-13T00:28:00.849Z,1628814480.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:00.849Z,1628814480.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:00.852Z,1628814480.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:01.244Z,1628814481.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:01.649Z,1628814481.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0076C,189,80,80,BE,FF
2021-08-13T00:28:01.650Z,1628814481.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:02.101Z,1628814482.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002802.38*5D

2021-08-13T00:28:02.185Z,1628814482.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 196.112981 deg, deltaT: 4.396854 s, approachRate: -0.204692 m/s, LOS rate: -3.141892 deg/s, posRepo size: 4
2021-08-13T00:28:02.187Z,1628814482.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.500000 m,
      bearing: 196.112981 deg,
      approachRate: -0.204692 m/s,
      LOS rate: -3.141892 deg/s,
      cmd update: -9.425676 deg/s,
      cmd heading: 209.927421 deg,
      new cmd heading: 209.927421 deg.

2021-08-13T00:28:04.495Z,1628814484.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:04.885Z,1628814484.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:04.885Z,1628814484.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:04.885Z,1628814484.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:04.886Z,1628814484.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:05.293Z,1628814485.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0076C,189,80,80,BE,FF
2021-08-13T00:28:05.293Z,1628814485.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:05.294Z,1628814485.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:05.295Z,1628814485.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:05.704Z,1628814485.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:06.097Z,1628814486.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0075F,189,80,80,8D,FF
2021-08-13T00:28:06.098Z,1628814486.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:06.533Z,1628814486.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002806.82*58

2021-08-13T00:28:06.581Z,1628814486.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 185.771406 deg, deltaT: 4.510526 s, approachRate: -0.172929 m/s, LOS rate: -2.292765 deg/s, posRepo size: 4
2021-08-13T00:28:06.582Z,1628814486.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.720001 m,
      bearing: 185.771406 deg,
      approachRate: -0.172929 m/s,
      LOS rate: -2.292765 deg/s,
      cmd update: -6.878295 deg/s,
      cmd heading: 167.489872 deg,
      new cmd heading: 163.651539 deg.

2021-08-13T00:28:08.947Z,1628814488.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:09.353Z,1628814489.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:09.354Z,1628814489.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:09.354Z,1628814489.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:09.355Z,1628814489.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:09.737Z,1628814489.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0075F,189,80,80,8D,FF
2021-08-13T00:28:09.737Z,1628814489.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:09.737Z,1628814489.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:09.739Z,1628814489.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:10.164Z,1628814490.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:10.545Z,1628814490.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47F,000,0074A,189,80,80,B2,FF
2021-08-13T00:28:10.545Z,1628814490.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:11.001Z,1628814491.001 [Micromodem](INFO): Nmea in: $SNTTA,0.056790,,,,002811.26*43

2021-08-13T00:28:11.069Z,1628814491.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 175.076846 deg, deltaT: 4.406195 s, approachRate: -0.285962 m/s, LOS rate: -2.427164 deg/s, posRepo size: 4
2021-08-13T00:28:11.071Z,1628814491.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 175.076846 deg,
      approachRate: -0.285962 m/s,
      LOS rate: -2.427164 deg/s,
      cmd update: -7.281494 deg/s,
      cmd heading: 137.268473 deg,
      new cmd heading: 133.815308 deg.

2021-08-13T00:28:13.426Z,1628814493.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:13.777Z,1628814493.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:13.777Z,1628814493.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:13.777Z,1628814493.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:13.778Z,1628814493.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:14.189Z,1628814494.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47F,000,0074A,189,80,80,B2,FF
2021-08-13T00:28:14.189Z,1628814494.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:14.189Z,1628814494.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:14.191Z,1628814494.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:14.588Z,1628814494.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:15.003Z,1628814495.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,00729,189,80,80,A6,FF
2021-08-13T00:28:15.005Z,1628814495.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:15.445Z,1628814495.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002815.71*56

2021-08-13T00:28:15.491Z,1628814495.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 176.299354 deg, deltaT: 4.523337 s, approachRate: -0.437729 m/s, LOS rate: 0.270267 deg/s, posRepo size: 4
2021-08-13T00:28:15.493Z,1628814495.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 176.299354 deg,
      approachRate: -0.437729 m/s,
      LOS rate: 0.270267 deg/s,
      cmd update: 0.810801 deg/s,
      cmd heading: 104.211233 deg,
      new cmd heading: 101.383713 deg.

2021-08-13T00:28:17.851Z,1628814497.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:18.242Z,1628814498.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:18.242Z,1628814498.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:18.242Z,1628814498.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:18.243Z,1628814498.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:18.657Z,1628814498.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,00729,189,80,80,A6,FF
2021-08-13T00:28:18.657Z,1628814498.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:18.657Z,1628814498.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:18.659Z,1628814498.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:19.089Z,1628814499.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:19.461Z,1628814499.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,006FE,188,80,80,AC,FF
2021-08-13T00:28:19.461Z,1628814499.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:19.917Z,1628814499.917 [Micromodem](INFO): Nmea in: $SNTTA,0.062005,,,,002820.18*40

2021-08-13T00:28:19.991Z,1628814499.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 171.845388 deg, deltaT: 4.412863 s, approachRate: -0.584655 m/s, LOS rate: -1.009314 deg/s, posRepo size: 4
2021-08-13T00:28:19.993Z,1628814499.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 171.845388 deg,
      approachRate: -0.584655 m/s,
      LOS rate: -1.009314 deg/s,
      cmd update: -3.027943 deg/s,
      cmd heading: 107.792383 deg,
      new cmd heading: 108.173124 deg.

2021-08-13T00:28:22.340Z,1628814502.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:22.693Z,1628814502.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:22.693Z,1628814502.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:22.694Z,1628814502.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:22.695Z,1628814502.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:23.106Z,1628814503.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,006FE,188,80,80,AC,FF
2021-08-13T00:28:23.106Z,1628814503.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:23.106Z,1628814503.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:23.109Z,1628814503.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:23.497Z,1628814503.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:23.930Z,1628814503.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,006CD,186,80,80,8C,FF
2021-08-13T00:28:23.931Z,1628814503.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:24.337Z,1628814504.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002824.64*50

2021-08-13T00:28:24.401Z,1628814504.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.960007 m, bearing: 169.587054 deg, deltaT: 4.526973 s, approachRate: -0.649439 m/s, LOS rate: -0.498862 deg/s, posRepo size: 4
2021-08-13T00:28:24.403Z,1628814504.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.960007 m,
      bearing: 169.587054 deg,
      approachRate: -0.649439 m/s,
      LOS rate: -0.498862 deg/s,
      cmd update: -1.496585 deg/s,
      cmd heading: 94.122954 deg,
      new cmd heading: 93.023381 deg.

2021-08-13T00:28:26.743Z,1628814506.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:27.131Z,1628814507.131 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:27.131Z,1628814507.131 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:27.131Z,1628814507.131 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:27.132Z,1628814507.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:27.537Z,1628814507.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,006CD,186,80,80,8C,FF
2021-08-13T00:28:27.538Z,1628814507.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:27.538Z,1628814507.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:27.539Z,1628814507.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:27.978Z,1628814507.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:28.768Z,1628814508.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002829.06*59

2021-08-13T00:28:29.601Z,1628814509.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:31.169Z,1628814511.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,8C,FF
2021-08-13T00:28:31.169Z,1628814511.169 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,8C,FF
2021-08-13T00:28:31.170Z,1628814511.170 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:28:32.109Z,1628814512.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:32.381Z,1628814512.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:32.381Z,1628814512.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:32.381Z,1628814512.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:32.382Z,1628814512.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:32.789Z,1628814512.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,8C,FF
2021-08-13T00:28:32.789Z,1628814512.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:32.790Z,1628814512.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:32.791Z,1628814512.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:33.201Z,1628814513.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:34.028Z,1628814514.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002834.32*52

2021-08-13T00:28:34.839Z,1628814514.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:35.210Z,1628814515.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,04C30,189,80,80,C9,FF
2021-08-13T00:28:35.210Z,1628814515.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:35.648Z,1628814515.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1132.739990 m, bearing: 170.250333 deg, deltaT: 11.213545 s, approachRate: 95.043991 m/s, LOS rate: 0.059150 deg/s, posRepo size: 4
2021-08-13T00:28:35.650Z,1628814515.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1132.739990 m,
      bearing: 170.250333 deg,
      approachRate: 95.043991 m/s,
      LOS rate: 0.059150 deg/s,
      cmd update: 0.177450 deg/s,
      cmd heading: 77.331077 deg,
      new cmd heading: 76.741825 deg.

2021-08-13T00:28:38.099Z,1628814518.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:38.449Z,1628814518.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:38.449Z,1628814518.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:38.449Z,1628814518.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:38.450Z,1628814518.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:38.846Z,1628814518.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,04C30,189,80,80,C9,FF
2021-08-13T00:28:38.846Z,1628814518.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:38.847Z,1628814518.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:38.850Z,1628814518.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:39.252Z,1628814519.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:39.653Z,1628814519.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B93,000,00629,189,80,80,91,FF
2021-08-13T00:28:39.653Z,1628814519.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:40.101Z,1628814520.101 [Micromodem](INFO): Nmea in: $SNTTA,0.156597,,,,002840.37*43

2021-08-13T00:28:40.224Z,1628814520.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 182.721316 deg, deltaT: 4.411094 s, approachRate: -243.844269 m/s, LOS rate: 2.827186 deg/s, posRepo size: 4
2021-08-13T00:28:40.226Z,1628814520.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.119999 m,
      bearing: 182.721316 deg,
      approachRate: -243.844269 m/s,
      LOS rate: 2.827186 deg/s,
      cmd update: 8.481557 deg/s,
      cmd heading: 78.114859 deg,
      new cmd heading: 78.210911 deg.

2021-08-13T00:28:42.535Z,1628814522.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:42.901Z,1628814522.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:42.901Z,1628814522.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:42.902Z,1628814522.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:42.903Z,1628814522.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:43.301Z,1628814523.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B93,000,00629,189,80,80,91,FF
2021-08-13T00:28:43.301Z,1628814523.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:43.302Z,1628814523.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:43.303Z,1628814523.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:43.705Z,1628814523.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:44.105Z,1628814524.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B9F,000,00609,18A,80,80,B2,FF
2021-08-13T00:28:44.106Z,1628814524.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:44.549Z,1628814524.549 [Micromodem](INFO): Nmea in: $SNTTA,0.047037,,,,002844.83*46

2021-08-13T00:28:44.591Z,1628814524.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 165.901607 deg, deltaT: 4.586133 s, approachRate: -0.418654 m/s, LOS rate: -3.667514 deg/s, posRepo size: 4
2021-08-13T00:28:44.595Z,1628814524.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.199997 m,
      bearing: 165.901607 deg,
      approachRate: -0.418654 m/s,
      LOS rate: -3.667514 deg/s,
      cmd update: -11.002543 deg/s,
      cmd heading: 116.868095 deg,
      new cmd heading: 119.844214 deg.

2021-08-13T00:28:46.970Z,1628814526.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:47.350Z,1628814527.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:47.351Z,1628814527.351 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:47.351Z,1628814527.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:47.368Z,1628814527.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:47.741Z,1628814527.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B9F,000,00609,18A,80,80,B2,FF
2021-08-13T00:28:47.741Z,1628814527.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:47.741Z,1628814527.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:47.743Z,1628814527.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:48.156Z,1628814528.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:48.986Z,1628814528.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002849.27*5C

2021-08-13T00:28:49.824Z,1628814529.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:51.377Z,1628814531.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,18A,80,80,B2,FF
2021-08-13T00:28:51.377Z,1628814531.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,18A,80,80,B2,FF
2021-08-13T00:28:51.377Z,1628814531.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:28:52.628Z,1628814532.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:52.989Z,1628814532.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:52.989Z,1628814532.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:52.989Z,1628814532.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:52.990Z,1628814532.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:53.413Z,1628814533.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,18A,80,80,B2,FF
2021-08-13T00:28:53.413Z,1628814533.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:53.413Z,1628814533.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:53.415Z,1628814533.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:53.810Z,1628814533.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:54.215Z,1628814534.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6F,000,005E0,188,80,80,8C,FF
2021-08-13T00:28:54.215Z,1628814534.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:54.641Z,1628814534.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002854.94*58

2021-08-13T00:28:54.663Z,1628814534.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 146.905512 deg, deltaT: 10.018888 s, approachRate: -0.245536 m/s, LOS rate: -1.896028 deg/s, posRepo size: 4
2021-08-13T00:28:54.666Z,1628814534.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 146.905512 deg,
      approachRate: -0.245536 m/s,
      LOS rate: -1.896028 deg/s,
      cmd update: -5.688085 deg/s,
      cmd heading: 6.713139 deg,
      new cmd heading: 2.183887 deg.

2021-08-13T00:28:57.067Z,1628814537.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:28:57.445Z,1628814537.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:28:57.445Z,1628814537.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:28:57.445Z,1628814537.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:28:57.446Z,1628814537.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:28:57.849Z,1628814537.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6F,000,005E0,188,80,80,8C,FF
2021-08-13T00:28:57.849Z,1628814537.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:28:57.849Z,1628814537.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:28:57.869Z,1628814537.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:28:58.256Z,1628814538.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:28:58.657Z,1628814538.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,005DF,189,80,80,73,FF
2021-08-13T00:28:58.657Z,1628814538.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:28:59.084Z,1628814539.084 [Micromodem](INFO): Nmea in: $SNTTA,0.044111,,,,002859.41*42

2021-08-13T00:28:59.118Z,1628814539.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 43.830980 deg, deltaT: 4.398896 s, approachRate: -0.013638 m/s, LOS rate: -23.431910 deg/s, posRepo size: 4
2021-08-13T00:28:59.118Z,1628814539.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.431910 deg/s. Setting heading cmd to target bearing of 43.830980deg and heading rate command to 0 deg/s.
2021-08-13T00:29:01.538Z,1628814541.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:01.907Z,1628814541.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:01.908Z,1628814541.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:01.909Z,1628814541.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:01.910Z,1628814541.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:02.293Z,1628814542.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,005DF,189,80,80,73,FF
2021-08-13T00:29:02.293Z,1628814542.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:02.293Z,1628814542.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:02.295Z,1628814542.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:02.693Z,1628814542.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:03.101Z,1628814543.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D18,000,005EE,189,80,80,95,FF
2021-08-13T00:29:03.101Z,1628814543.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:03.533Z,1628814543.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002903.82*5C

2021-08-13T00:29:03.617Z,1628814543.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 108.309861 deg, deltaT: 4.443924 s, approachRate: 0.202522 m/s, LOS rate: 14.509448 deg/s, posRepo size: 4
2021-08-13T00:29:03.618Z,1628814543.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.509448 deg/s. Setting heading cmd to target bearing of 108.309861deg and heading rate command to 0 deg/s.
2021-08-13T00:29:06.032Z,1628814546.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:06.329Z,1628814546.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:06.329Z,1628814546.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:06.329Z,1628814546.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:06.330Z,1628814546.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:06.729Z,1628814546.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D18,000,005EE,189,80,80,95,FF
2021-08-13T00:29:06.729Z,1628814546.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:06.729Z,1628814546.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:06.731Z,1628814546.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:07.136Z,1628814547.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:07.541Z,1628814547.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,150,000,0045A,186,80,80,9E,FF
2021-08-13T00:29:07.542Z,1628814547.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:07.990Z,1628814547.990 [Micromodem](INFO): Nmea in: $SNTTA,0.048045,,,,002908.26*4A

2021-08-13T00:29:08.065Z,1628814548.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 40.554757 deg, deltaT: 4.439786 s, approachRate: -5.459722 m/s, LOS rate: -15.260895 deg/s, posRepo size: 4
2021-08-13T00:29:08.065Z,1628814548.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.34 m.
2021-08-13T00:29:08.066Z,1628814548.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.34 m.
2021-08-13T00:29:08.066Z,1628814548.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:29:08.067Z,1628814548.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.260895 deg/s. Setting heading cmd to target bearing of 40.554757deg and heading rate command to 0 deg/s.
2021-08-13T00:29:08.380Z,1628814548.380 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:29:08.380Z,1628814548.380 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:29:08.380Z,1628814548.380 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:29:08.381Z,1628814548.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:29:08.381Z,1628814548.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:29:08.381Z,1628814548.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:29:08.801Z,1628814548.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:29:08.801Z,1628814548.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:29:08.801Z,1628814548.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:29:08.801Z,1628814548.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:29:10.083Z,1628814550.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:10.377Z,1628814550.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:10.377Z,1628814550.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:10.377Z,1628814550.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:10.378Z,1628814550.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:10.777Z,1628814550.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
150,000,0045A,186,80,80,9E,FF
2021-08-13T00:29:10.778Z,1628814550.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:10.778Z,1628814550.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:10.779Z,1628814550.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:11.176Z,1628814551.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:11.589Z,1628814551.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00626,186,80,80,88,FF
2021-08-13T00:29:11.590Z,1628814551.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:11.630Z,1628814551.630 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:29:12.029Z,1628814552.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002912.31*54

2021-08-13T00:29:12.065Z,1628814552.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 67.597597 deg, deltaT: 4.068550 s, approachRate: 6.783743 m/s, LOS rate: 6.646800 deg/s, posRepo size: 4
2021-08-13T00:29:12.067Z,1628814552.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.939999 m,
      bearing: 67.597597 deg,
      approachRate: 6.783743 m/s,
      LOS rate: 6.646800 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 40.554757 deg,
      new cmd heading: 40.554757 deg.

2021-08-13T00:29:12.433Z,1628814552.433 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:29:12.433Z,1628814552.433 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:29:12.434Z,1628814552.434 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:29:12.434Z,1628814552.434 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:29:12.434Z,1628814552.434 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:29:12.434Z,1628814552.434 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:29:12.817Z,1628814552.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:29:12.817Z,1628814552.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:29:12.817Z,1628814552.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:29:12.818Z,1628814552.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:29:14.469Z,1628814554.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:14.817Z,1628814554.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:14.817Z,1628814554.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:14.818Z,1628814554.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:14.818Z,1628814554.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:15.233Z,1628814555.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00626,186,80,80,88,FF
2021-08-13T00:29:15.233Z,1628814555.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:15.233Z,1628814555.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:15.235Z,1628814555.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:15.624Z,1628814555.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:16.029Z,1628814556.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC3,000,00643,18A,80,80,85,FF
2021-08-13T00:29:16.029Z,1628814556.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:16.443Z,1628814556.443 [Micromodem](INFO): Nmea in: $SNTTA,0.050209,,,,002916.76*43

2021-08-13T00:29:16.476Z,1628814556.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 108.090237 deg, deltaT: 4.462990 s, approachRate: 0.389874 m/s, LOS rate: 9.072985 deg/s, posRepo size: 4
2021-08-13T00:29:16.478Z,1628814556.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.680004 m,
      bearing: 108.090237 deg,
      approachRate: 0.389874 m/s,
      LOS rate: 9.072985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.876099 deg,
      new cmd heading: 98.787795 deg.

2021-08-13T00:29:18.892Z,1628814558.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:19.261Z,1628814559.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:19.261Z,1628814559.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:19.261Z,1628814559.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:19.262Z,1628814559.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:19.654Z,1628814559.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC3,000,00643,18A,80,80,85,FF
2021-08-13T00:29:19.655Z,1628814559.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:19.655Z,1628814559.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:19.657Z,1628814559.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:20.107Z,1628814560.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:20.465Z,1628814560.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8A,000,00662,188,80,80,6E,FF
2021-08-13T00:29:20.466Z,1628814560.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:20.909Z,1628814560.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002921.18*5F

2021-08-13T00:29:20.944Z,1628814560.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 113.897523 deg, deltaT: 4.392626 s, approachRate: 0.423437 m/s, LOS rate: 1.322053 deg/s, posRepo size: 4
2021-08-13T00:29:20.946Z,1628814560.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 113.897523 deg,
      approachRate: 0.423437 m/s,
      LOS rate: 1.322053 deg/s,
      cmd update: 3.966160 deg/s,
      cmd heading: 146.874868 deg,
      new cmd heading: 152.408608 deg.

2021-08-13T00:29:23.324Z,1628814563.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:23.704Z,1628814563.704 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:23.705Z,1628814563.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:23.705Z,1628814563.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:23.706Z,1628814563.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:24.102Z,1628814564.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8A,000,00662,188,80,80,6E,FF
2021-08-13T00:29:24.102Z,1628814564.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:24.102Z,1628814564.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:24.105Z,1628814564.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:24.513Z,1628814564.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:24.915Z,1628814564.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,0067B,189,80,80,A9,FF
2021-08-13T00:29:24.915Z,1628814564.915 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:25.354Z,1628814565.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002925.63*57

2021-08-13T00:29:25.394Z,1628814565.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.039997 m, bearing: 115.442887 deg, deltaT: 4.500758 s, approachRate: 0.333275 m/s, LOS rate: 0.343356 deg/s, posRepo size: 4
2021-08-13T00:29:25.394Z,1628814565.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 62.04 m. Rolling out.
2021-08-13T00:29:25.394Z,1628814565.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:29:25.736Z,1628814565.736 [DDM](ERROR): Could not parse latch state
2021-08-13T00:29:27.761Z,1628814567.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:28.143Z,1628814568.143 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:28.143Z,1628814568.143 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:28.143Z,1628814568.143 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:28.145Z,1628814568.145 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:28.545Z,1628814568.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,0067B,189,80,80,A9,FF
2021-08-13T00:29:28.545Z,1628814568.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:28.545Z,1628814568.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:28.547Z,1628814568.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:28.967Z,1628814568.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:29.799Z,1628814569.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002930.07*51

2021-08-13T00:29:30.616Z,1628814570.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:32.185Z,1628814572.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,A9,FF
2021-08-13T00:29:32.185Z,1628814572.185 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,A9,FF
2021-08-13T00:29:32.186Z,1628814572.186 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:29:33.443Z,1628814573.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:33.805Z,1628814573.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:33.805Z,1628814573.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:33.805Z,1628814573.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:33.806Z,1628814573.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:34.205Z,1628814574.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,A9,FF
2021-08-13T00:29:34.205Z,1628814574.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:34.205Z,1628814574.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:34.207Z,1628814574.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:34.608Z,1628814574.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:35.009Z,1628814575.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,00682,188,80,80,70,FF
2021-08-13T00:29:35.009Z,1628814575.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:35.472Z,1628814575.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002935.73*57

2021-08-13T00:29:35.545Z,1628814575.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 163.345053 deg, deltaT: 10.043053 s, approachRate: 0.041820 m/s, LOS rate: 4.769682 deg/s, posRepo size: 4
2021-08-13T00:29:37.965Z,1628814577.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:38.245Z,1628814578.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:38.245Z,1628814578.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:38.245Z,1628814578.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:38.246Z,1628814578.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:38.645Z,1628814578.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,00682,188,80,80,70,FF
2021-08-13T00:29:38.645Z,1628814578.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:38.645Z,1628814578.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:38.647Z,1628814578.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:39.057Z,1628814579.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:39.453Z,1628814579.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0066F,18A,80,80,7B,FF
2021-08-13T00:29:39.453Z,1628814579.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:39.925Z,1628814579.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002940.17*57

2021-08-13T00:29:40.010Z,1628814580.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 212.719029 deg, deltaT: 4.476850 s, approachRate: -0.254642 m/s, LOS rate: 11.028731 deg/s, posRepo size: 4
2021-08-13T00:29:42.040Z,1628814582.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:42.285Z,1628814582.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:42.285Z,1628814582.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:42.286Z,1628814582.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:42.287Z,1628814582.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:42.685Z,1628814582.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0066F,18A,80,80,7B,FF
2021-08-13T00:29:42.685Z,1628814582.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:42.685Z,1628814582.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:42.687Z,1628814582.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:43.101Z,1628814583.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:43.493Z,1628814583.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C88,000,0065D,189,80,80,AD,FF
2021-08-13T00:29:43.494Z,1628814583.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:43.961Z,1628814583.961 [Micromodem](INFO): Nmea in: $SNTTA,0.053263,,,,002944.21*49

2021-08-13T00:29:44.012Z,1628814584.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 210.209276 deg, deltaT: 4.036349 s, approachRate: -0.267569 m/s, LOS rate: -0.621788 deg/s, posRepo size: 4
2021-08-13T00:29:46.395Z,1628814586.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:46.746Z,1628814586.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:46.746Z,1628814586.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:46.746Z,1628814586.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:46.747Z,1628814586.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:47.129Z,1628814587.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C88,000,0065D,189,80,80,AD,FF
2021-08-13T00:29:47.129Z,1628814587.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:47.129Z,1628814587.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:47.131Z,1628814587.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:47.545Z,1628814587.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:47.969Z,1628814587.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00638,188,80,80,B9,FF
2021-08-13T00:29:47.969Z,1628814587.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:48.385Z,1628814588.385 [Micromodem](INFO): Nmea in: $SNTTA,0.049172,,,,002948.66*4E

2021-08-13T00:29:48.408Z,1628814588.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 215.100525 deg, deltaT: 4.486560 s, approachRate: -0.494811 m/s, LOS rate: 1.090200 deg/s, posRepo size: 4
2021-08-13T00:29:50.797Z,1628814590.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:51.169Z,1628814591.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:51.169Z,1628814591.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:51.169Z,1628814591.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:51.170Z,1628814591.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:51.573Z,1628814591.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00638,188,80,80,B9,FF
2021-08-13T00:29:51.573Z,1628814591.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:51.573Z,1628814591.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:51.575Z,1628814591.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:51.990Z,1628814591.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:52.389Z,1628814592.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C04,000,00611,18A,80,80,B3,FF
2021-08-13T00:29:52.389Z,1628814592.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:52.837Z,1628814592.837 [Micromodem](INFO): Nmea in: $SNTTA,0.050662,,,,002953.10*4B

2021-08-13T00:29:52.866Z,1628814592.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 221.272885 deg, deltaT: 4.412253 s, approachRate: -0.530342 m/s, LOS rate: 1.398913 deg/s, posRepo size: 4
2021-08-13T00:29:55.251Z,1628814595.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:29:55.609Z,1628814595.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:29:55.609Z,1628814595.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:29:55.609Z,1628814595.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:29:55.610Z,1628814595.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:29:56.025Z,1628814596.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C04,000,00611,18A,80,80,B3,FF
2021-08-13T00:29:56.025Z,1628814596.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:29:56.025Z,1628814596.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:29:56.027Z,1628814596.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:29:56.437Z,1628814596.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:29:56.833Z,1628814596.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF4,000,005F0,189,80,80,9B,FF
2021-08-13T00:29:56.834Z,1628814596.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:29:57.266Z,1628814597.266 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002957.55*57

2021-08-13T00:29:57.288Z,1628814597.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 222.267989 deg, deltaT: 4.476442 s, approachRate: -0.442315 m/s, LOS rate: 0.222298 deg/s, posRepo size: 4
2021-08-13T00:29:59.691Z,1628814599.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:00.057Z,1628814600.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:00.057Z,1628814600.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:00.057Z,1628814600.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:00.058Z,1628814600.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:00.467Z,1628814600.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF4,000,005F0,189,80,80,9B,FF
2021-08-13T00:30:00.467Z,1628814600.467 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:00.467Z,1628814600.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:00.469Z,1628814600.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:00.885Z,1628814600.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:01.269Z,1628814601.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B8E,000,005CF,189,80,80,B0,FF
2021-08-13T00:30:01.270Z,1628814601.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:01.714Z,1628814601.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003001.99*5C

2021-08-13T00:30:01.737Z,1628814601.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 226.920399 deg, deltaT: 4.453759 s, approachRate: -0.444570 m/s, LOS rate: 1.044603 deg/s, posRepo size: 4
2021-08-13T00:30:04.150Z,1628814604.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:04.501Z,1628814604.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:04.501Z,1628814604.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:04.501Z,1628814604.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:04.502Z,1628814604.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:04.913Z,1628814604.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B8E,000,005CF,189,80,80,B0,FF
2021-08-13T00:30:04.913Z,1628814604.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:04.914Z,1628814604.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:04.924Z,1628814604.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:05.312Z,1628814605.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:05.725Z,1628814605.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,005B3,189,80,80,BA,FF
2021-08-13T00:30:05.726Z,1628814605.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:06.153Z,1628814606.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003006.45*5A

2021-08-13T00:30:06.208Z,1628814606.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 234.327535 deg, deltaT: 4.384502 s, approachRate: -0.383168 m/s, LOS rate: 1.689390 deg/s, posRepo size: 4
2021-08-13T00:30:08.559Z,1628814608.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:08.957Z,1628814608.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:08.957Z,1628814608.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:08.958Z,1628814608.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:08.958Z,1628814608.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:09.354Z,1628814609.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,005B3,189,80,80,BA,FF
2021-08-13T00:30:09.354Z,1628814609.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:09.354Z,1628814609.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:09.356Z,1628814609.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:09.761Z,1628814609.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:10.179Z,1628814610.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00598,18A,80,80,C6,FF
2021-08-13T00:30:10.183Z,1628814610.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:10.203Z,1628814610.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:30:10.601Z,1628814610.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003010.88*5C

2021-08-13T00:30:10.620Z,1628814610.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 234.226475 deg, deltaT: 4.516180 s, approachRate: -0.358710 m/s, LOS rate: -0.022377 deg/s, posRepo size: 4
2021-08-13T00:30:13.007Z,1628814613.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:13.398Z,1628814613.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:13.399Z,1628814613.399 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:13.399Z,1628814613.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:13.400Z,1628814613.400 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:13.801Z,1628814613.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00598,18A,80,80,C6,FF
2021-08-13T00:30:13.801Z,1628814613.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:13.801Z,1628814613.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:13.803Z,1628814613.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:14.197Z,1628814614.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:14.609Z,1628814614.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0057D,189,80,80,AB,FF
2021-08-13T00:30:14.609Z,1628814614.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:15.046Z,1628814615.046 [Micromodem](INFO): Nmea in: $SNTTA,0.055791,,,,003015.33*48

2021-08-13T00:30:15.067Z,1628814615.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 233.041574 deg, deltaT: 4.400326 s, approachRate: -0.368153 m/s, LOS rate: -0.269276 deg/s, posRepo size: 4
2021-08-13T00:30:17.463Z,1628814617.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:17.849Z,1628814617.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:17.850Z,1628814617.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:17.850Z,1628814617.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:17.851Z,1628814617.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:18.249Z,1628814618.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0057D,189,80,80,AB,FF
2021-08-13T00:30:18.249Z,1628814618.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:18.249Z,1628814618.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:18.251Z,1628814618.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:18.648Z,1628814618.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:19.045Z,1628814619.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00566,189,80,80,AA,FF
2021-08-13T00:30:19.046Z,1628814619.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:19.493Z,1628814619.493 [Micromodem](INFO): Nmea in: $SNTTA,0.064416,,,,003019.78*45

2021-08-13T00:30:19.528Z,1628814619.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 233.857809 deg, deltaT: 4.440429 s, approachRate: -0.310782 m/s, LOS rate: 0.183819 deg/s, posRepo size: 4
2021-08-13T00:30:21.993Z,1628814621.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:22.285Z,1628814622.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:22.285Z,1628814622.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:22.285Z,1628814622.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:22.286Z,1628814622.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:22.701Z,1628814622.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00566,189,80,80,AA,FF
2021-08-13T00:30:22.701Z,1628814622.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:22.701Z,1628814622.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:22.705Z,1628814622.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:23.088Z,1628814623.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:23.493Z,1628814623.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00555,189,80,80,9B,FF
2021-08-13T00:30:23.494Z,1628814623.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:23.973Z,1628814623.973 [Micromodem](INFO): Nmea in: $SNTTA,0.065615,,,,003024.23*45

2021-08-13T00:30:24.024Z,1628814624.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 233.558537 deg, deltaT: 4.456032 s, approachRate: -0.228902 m/s, LOS rate: -0.067161 deg/s, posRepo size: 4
2021-08-13T00:30:26.351Z,1628814626.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:26.742Z,1628814626.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:26.742Z,1628814626.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:26.742Z,1628814626.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:26.743Z,1628814626.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:27.129Z,1628814627.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00555,189,80,80,9B,FF
2021-08-13T00:30:27.130Z,1628814627.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:27.130Z,1628814627.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:27.131Z,1628814627.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:27.564Z,1628814627.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:27.977Z,1628814627.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00547,189,80,80,A2,FF
2021-08-13T00:30:27.977Z,1628814627.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:28.370Z,1628814628.370 [Micromodem](INFO): Nmea in: $SNTTA,0.061617,,,,003028.66*4E

2021-08-13T00:30:28.418Z,1628814628.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 230.796709 deg, deltaT: 4.523939 s, approachRate: -0.185680 m/s, LOS rate: -0.610492 deg/s, posRepo size: 4
2021-08-13T00:30:30.802Z,1628814630.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:31.173Z,1628814631.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:31.173Z,1628814631.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:31.173Z,1628814631.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:31.174Z,1628814631.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:31.573Z,1628814631.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00547,189,80,80,A2,FF
2021-08-13T00:30:31.574Z,1628814631.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:31.574Z,1628814631.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:31.575Z,1628814631.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:31.981Z,1628814631.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:32.373Z,1628814632.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00541,185,80,80,59,FF
2021-08-13T00:30:32.374Z,1628814632.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:32.825Z,1628814632.825 [Micromodem](INFO): Nmea in: $SNTTA,0.046297,,,,003033.10*4C

2021-08-13T00:30:32.854Z,1628814632.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 151.986968 deg, deltaT: 4.362918 s, approachRate: -0.082513 m/s, LOS rate: -18.063540 deg/s, posRepo size: 4
2021-08-13T00:30:35.245Z,1628814635.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:35.613Z,1628814635.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:35.613Z,1628814635.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:35.613Z,1628814635.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:35.614Z,1628814635.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:36.026Z,1628814636.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,00541,185,80,80,59,FF
2021-08-13T00:30:36.026Z,1628814636.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:36.026Z,1628814636.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:36.028Z,1628814636.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:36.437Z,1628814636.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:36.821Z,1628814636.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00532,189,80,80,97,FF
2021-08-13T00:30:36.821Z,1628814636.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:37.265Z,1628814637.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003037.55*59

2021-08-13T00:30:37.289Z,1628814637.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 233.834395 deg, deltaT: 4.444744 s, approachRate: -0.202487 m/s, LOS rate: 18.414431 deg/s, posRepo size: 4
2021-08-13T00:30:38.449Z,1628814638.449 [PowerOnly](INFO): Powering down loadControl
2021-08-13T00:30:39.706Z,1628814639.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:40.055Z,1628814640.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:40.056Z,1628814640.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:40.056Z,1628814640.056 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:40.057Z,1628814640.057 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:40.457Z,1628814640.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00532,189,80,80,97,FF
2021-08-13T00:30:40.457Z,1628814640.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:40.457Z,1628814640.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:40.459Z,1628814640.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:40.866Z,1628814640.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:41.698Z,1628814641.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003041.99*58

2021-08-13T00:30:42.515Z,1628814642.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:44.121Z,1628814644.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,97,FF
2021-08-13T00:30:44.121Z,1628814644.121 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,97,FF
2021-08-13T00:30:44.121Z,1628814644.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:30:45.345Z,1628814645.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:45.717Z,1628814645.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:45.717Z,1628814645.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:45.717Z,1628814645.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:45.718Z,1628814645.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:46.117Z,1628814646.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,97,FF
2021-08-13T00:30:46.117Z,1628814646.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:46.117Z,1628814646.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:46.119Z,1628814646.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:46.528Z,1628814646.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:46.925Z,1628814646.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00524,186,80,80,80,FF
2021-08-13T00:30:46.925Z,1628814646.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:47.373Z,1628814647.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003047.65*5D

2021-08-13T00:30:47.399Z,1628814647.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 194.999551 deg, deltaT: 10.076506 s, approachRate: -0.083362 m/s, LOS rate: -3.853999 deg/s, posRepo size: 4
2021-08-13T00:30:49.779Z,1628814649.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:50.153Z,1628814650.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:50.153Z,1628814650.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:50.153Z,1628814650.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:50.154Z,1628814650.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:50.561Z,1628814650.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00524,186,80,80,80,FF
2021-08-13T00:30:50.561Z,1628814650.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:50.561Z,1628814650.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:50.563Z,1628814650.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:50.971Z,1628814650.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:51.365Z,1628814651.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00522,186,80,80,B4,FF
2021-08-13T00:30:51.365Z,1628814651.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:51.799Z,1628814651.799 [Micromodem](INFO): Nmea in: $SNTTA,0.054245,,,,003052.09*4F

2021-08-13T00:30:51.815Z,1628814651.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 196.003357 deg, deltaT: 4.458416 s, approachRate: -0.026915 m/s, LOS rate: 0.225148 deg/s, posRepo size: 4
2021-08-13T00:30:54.266Z,1628814654.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:54.601Z,1628814654.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:54.601Z,1628814654.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:54.601Z,1628814654.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:54.602Z,1628814654.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:55.002Z,1628814655.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00522,186,80,80,B4,FF
2021-08-13T00:30:55.002Z,1628814655.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:55.002Z,1628814655.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:55.004Z,1628814655.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:55.404Z,1628814655.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:30:55.817Z,1628814655.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0037D,189,80,80,7B,FF
2021-08-13T00:30:55.818Z,1628814655.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:30:56.225Z,1628814656.225 [Micromodem](INFO): Nmea in: $SNTTA,0.383329,0.383716,,,003056.53*50

2021-08-13T00:30:56.309Z,1628814656.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 234.194510 deg, deltaT: 4.401575 s, approachRate: -5.738856 m/s, LOS rate: 8.676702 deg/s, posRepo size: 4
2021-08-13T00:30:56.661Z,1628814656.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:30:56.661Z,1628814656.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:30:56.661Z,1628814656.661 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:30:56.662Z,1628814656.662 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:30:56.662Z,1628814656.662 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:30:56.662Z,1628814656.662 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:30:57.088Z,1628814657.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:30:57.088Z,1628814657.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:30:57.088Z,1628814657.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:30:57.088Z,1628814657.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:30:58.654Z,1628814658.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:30:59.069Z,1628814659.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:30:59.069Z,1628814659.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:30:59.069Z,1628814659.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:30:59.070Z,1628814659.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:30:59.449Z,1628814659.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0037D,189,80,80,7B,FF
2021-08-13T00:30:59.449Z,1628814659.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:30:59.449Z,1628814659.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:30:59.451Z,1628814659.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:30:59.878Z,1628814659.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:00.281Z,1628814660.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,0052F,186,80,80,3B,FF
2021-08-13T00:31:00.281Z,1628814660.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:00.375Z,1628814660.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:31:00.693Z,1628814660.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003100.98*5D

2021-08-13T00:31:00.732Z,1628814660.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 150.126957 deg, deltaT: 4.542659 s, approachRate: 5.732326 m/s, LOS rate: -18.506244 deg/s, posRepo size: 4
2021-08-13T00:31:01.131Z,1628814661.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:31:01.131Z,1628814661.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:31:01.131Z,1628814661.131 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:31:01.136Z,1628814661.136 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:31:01.136Z,1628814661.136 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:31:01.136Z,1628814661.136 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:31:01.503Z,1628814661.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:31:01.503Z,1628814661.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:31:01.503Z,1628814661.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:31:01.503Z,1628814661.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:31:03.145Z,1628814663.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:03.493Z,1628814663.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:03.493Z,1628814663.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:03.493Z,1628814663.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:03.494Z,1628814663.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:03.929Z,1628814663.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,0052F,186,80,80,3B,FF
2021-08-13T00:31:03.929Z,1628814663.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:03.929Z,1628814663.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:03.931Z,1628814663.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:04.357Z,1628814664.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:04.753Z,1628814664.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,00542,189,80,80,76,FF
2021-08-13T00:31:04.754Z,1628814664.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:05.189Z,1628814665.189 [Micromodem](INFO): Nmea in: $SNTTA,0.043669,,,,003105.46*4B

2021-08-13T00:31:05.262Z,1628814665.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 200.640509 deg, deltaT: 4.393052 s, approachRate: 0.259501 m/s, LOS rate: 11.498510 deg/s, posRepo size: 4
2021-08-13T00:31:07.591Z,1628814667.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:07.986Z,1628814667.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:07.986Z,1628814667.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:07.986Z,1628814667.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:07.987Z,1628814667.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:08.381Z,1628814668.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,00542,189,80,80,76,FF
2021-08-13T00:31:08.381Z,1628814668.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:08.381Z,1628814668.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:08.383Z,1628814668.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:08.797Z,1628814668.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:09.197Z,1628814669.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,00551,189,80,80,33,FF
2021-08-13T00:31:09.197Z,1628814669.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:09.637Z,1628814669.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003109.91*5D

2021-08-13T00:31:09.664Z,1628814669.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 135.404935 deg, deltaT: 4.499681 s, approachRate: 0.200015 m/s, LOS rate: -14.497823 deg/s, posRepo size: 4
2021-08-13T00:31:12.103Z,1628814672.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:12.433Z,1628814672.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:12.434Z,1628814672.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:12.435Z,1628814672.435 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:12.456Z,1628814672.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:12.825Z,1628814672.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,00551,189,80,80,33,FF
2021-08-13T00:31:12.825Z,1628814672.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:12.826Z,1628814672.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:12.827Z,1628814672.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:13.234Z,1628814673.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:13.629Z,1628814673.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C70,000,0055F,189,80,80,8D,FF
2021-08-13T00:31:13.630Z,1628814673.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:14.093Z,1628814674.093 [Micromodem](INFO): Nmea in: $SNTTA,0.042283,,,,003114.35*4E

2021-08-13T00:31:14.186Z,1628814674.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 214.196167 deg, deltaT: 4.381759 s, approachRate: 0.191704 m/s, LOS rate: 17.981644 deg/s, posRepo size: 4
2021-08-13T00:31:16.494Z,1628814676.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:16.874Z,1628814676.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:16.874Z,1628814676.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:16.874Z,1628814676.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:16.875Z,1628814676.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:17.273Z,1628814677.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C70,000,0055F,189,80,80,8D,FF
2021-08-13T00:31:17.273Z,1628814677.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:17.273Z,1628814677.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:17.275Z,1628814677.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:17.685Z,1628814677.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:18.108Z,1628814678.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,00575,189,80,80,A7,FF
2021-08-13T00:31:18.109Z,1628814678.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:18.513Z,1628814678.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003118.80*5D

2021-08-13T00:31:18.544Z,1628814678.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 201.773733 deg, deltaT: 4.548301 s, approachRate: 0.290218 m/s, LOS rate: -2.731225 deg/s, posRepo size: 4
2021-08-13T00:31:20.941Z,1628814680.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:21.321Z,1628814681.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:21.321Z,1628814681.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:21.321Z,1628814681.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:21.322Z,1628814681.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:21.713Z,1628814681.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,00575,189,80,80,A7,FF
2021-08-13T00:31:21.713Z,1628814681.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:21.713Z,1628814681.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:21.715Z,1628814681.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:22.138Z,1628814682.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:22.521Z,1628814682.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,0058E,186,80,80,97,FF
2021-08-13T00:31:22.521Z,1628814682.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:22.957Z,1628814682.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003123.24*5B

2021-08-13T00:31:22.991Z,1628814682.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 189.005678 deg, deltaT: 4.338556 s, approachRate: 0.345737 m/s, LOS rate: -2.942927 deg/s, posRepo size: 4
2021-08-13T00:31:25.401Z,1628814685.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:25.765Z,1628814685.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:25.765Z,1628814685.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:25.765Z,1628814685.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:25.766Z,1628814685.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:26.173Z,1628814686.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,0058E,186,80,80,97,FF
2021-08-13T00:31:26.173Z,1628814686.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:26.173Z,1628814686.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:26.175Z,1628814686.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:26.569Z,1628814686.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:26.978Z,1628814686.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,005AE,186,80,80,6E,FF
2021-08-13T00:31:26.979Z,1628814686.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:27.401Z,1628814687.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003127.70*5E

2021-08-13T00:31:27.427Z,1628814687.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 189.200967 deg, deltaT: 4.458375 s, approachRate: 0.430651 m/s, LOS rate: 0.043803 deg/s, posRepo size: 4
2021-08-13T00:31:29.817Z,1628814689.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:30.204Z,1628814690.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:30.204Z,1628814690.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:30.205Z,1628814690.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:30.206Z,1628814690.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:30.601Z,1628814690.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,005AE,186,80,80,6E,FF
2021-08-13T00:31:30.601Z,1628814690.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:30.601Z,1628814690.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:30.603Z,1628814690.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:31.035Z,1628814691.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:31.409Z,1628814691.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,005CC,186,80,80,A3,FF
2021-08-13T00:31:31.409Z,1628814691.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:31.858Z,1628814691.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003132.13*5F

2021-08-13T00:31:31.945Z,1628814691.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 184.676444 deg, deltaT: 4.465416 s, approachRate: 0.403097 m/s, LOS rate: -1.013236 deg/s, posRepo size: 4
2021-08-13T00:31:34.322Z,1628814694.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:34.641Z,1628814694.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:34.641Z,1628814694.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:34.641Z,1628814694.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:34.642Z,1628814694.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:35.058Z,1628814695.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,005CC,186,80,80,A3,FF
2021-08-13T00:31:35.058Z,1628814695.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:35.058Z,1628814695.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:35.076Z,1628814695.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:35.508Z,1628814695.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:35.959Z,1628814695.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,005ED,189,80,80,59,FF
2021-08-13T00:31:35.959Z,1628814695.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:36.341Z,1628814696.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003136.60*5F

2021-08-13T00:31:36.382Z,1628814696.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 197.706082 deg, deltaT: 4.615011 s, approachRate: 0.429034 m/s, LOS rate: 2.823317 deg/s, posRepo size: 4
2021-08-13T00:31:38.771Z,1628814698.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:39.150Z,1628814699.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:39.150Z,1628814699.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:39.150Z,1628814699.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:39.151Z,1628814699.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:39.557Z,1628814699.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,005ED,189,80,80,59,FF
2021-08-13T00:31:39.557Z,1628814699.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:39.557Z,1628814699.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:39.559Z,1628814699.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:39.988Z,1628814699.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:40.376Z,1628814700.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAA,000,0060E,18A,80,80,9C,FF
2021-08-13T00:31:40.377Z,1628814700.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:40.889Z,1628814700.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003141.09*50

2021-08-13T00:31:40.924Z,1628814700.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 198.419782 deg, deltaT: 4.316262 s, approachRate: 0.458732 m/s, LOS rate: 0.165351 deg/s, posRepo size: 4
2021-08-13T00:31:43.278Z,1628814703.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:43.593Z,1628814703.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:43.593Z,1628814703.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:43.593Z,1628814703.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:43.594Z,1628814703.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:44.002Z,1628814704.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAA,000,0060E,18A,80,80,9C,FF
2021-08-13T00:31:44.002Z,1628814704.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:44.002Z,1628814704.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:44.007Z,1628814704.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:44.417Z,1628814704.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:44.809Z,1628814704.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00638,186,80,80,84,FF
2021-08-13T00:31:44.809Z,1628814704.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:45.270Z,1628814705.270 [Micromodem](INFO): Nmea in: $SNTTA,0.067514,,,,003145.53*44

2021-08-13T00:31:45.330Z,1628814705.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 190.965273 deg, deltaT: 4.502398 s, approachRate: 0.559703 m/s, LOS rate: -1.655675 deg/s, posRepo size: 4
2021-08-13T00:31:47.659Z,1628814707.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:48.046Z,1628814708.046 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:48.046Z,1628814708.046 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:48.047Z,1628814708.047 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:48.083Z,1628814708.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:48.083Z,1628814708.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00638,186,80,80,84,FF
2021-08-13T00:31:48.092Z,1628814708.092 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:48.092Z,1628814708.092 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:48.095Z,1628814708.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:48.472Z,1628814708.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:48.870Z,1628814708.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0065D,186,80,80,92,FF
2021-08-13T00:31:48.871Z,1628814708.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:49.308Z,1628814709.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003149.62*55

2021-08-13T00:31:49.334Z,1628814709.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 181.309298 deg, deltaT: 4.055836 s, approachRate: 0.547359 m/s, LOS rate: -2.380761 deg/s, posRepo size: 4
2021-08-13T00:31:51.722Z,1628814711.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:52.113Z,1628814712.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:52.113Z,1628814712.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:52.113Z,1628814712.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:52.114Z,1628814712.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:52.505Z,1628814712.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0065D,186,80,80,92,FF
2021-08-13T00:31:52.505Z,1628814712.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:52.506Z,1628814712.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:52.507Z,1628814712.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:52.916Z,1628814712.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:53.325Z,1628814713.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00684,187,80,80,78,FF
2021-08-13T00:31:53.325Z,1628814713.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:53.826Z,1628814713.826 [Micromodem](INFO): Nmea in: $SNTTA,0.048373,,,,003154.03*4B

2021-08-13T00:31:53.909Z,1628814713.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 178.616632 deg, deltaT: 4.425436 s, approachRate: 0.528762 m/s, LOS rate: -0.608452 deg/s, posRepo size: 4
2021-08-13T00:31:56.237Z,1628814716.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:31:56.545Z,1628814716.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:31:56.545Z,1628814716.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:31:56.545Z,1628814716.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:31:56.546Z,1628814716.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:31:56.949Z,1628814716.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00684,187,80,80,78,FF
2021-08-13T00:31:56.949Z,1628814716.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:31:56.949Z,1628814716.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:31:56.951Z,1628814716.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:31:57.357Z,1628814717.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:31:57.765Z,1628814717.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,006AE,186,80,80,95,FF
2021-08-13T00:31:57.765Z,1628814717.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:31:58.205Z,1628814718.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003158.48*5D

2021-08-13T00:31:58.275Z,1628814718.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 185.313564 deg, deltaT: 4.493016 s, approachRate: 0.560871 m/s, LOS rate: 1.490520 deg/s, posRepo size: 4
2021-08-13T00:32:00.623Z,1628814720.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:00.993Z,1628814720.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:00.993Z,1628814720.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:00.993Z,1628814720.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:00.994Z,1628814720.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:01.401Z,1628814721.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,006AE,186,80,80,95,FF
2021-08-13T00:32:01.401Z,1628814721.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:01.401Z,1628814721.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:01.403Z,1628814721.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:01.813Z,1628814721.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:02.205Z,1628814722.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,006DE,187,80,80,7C,FF
2021-08-13T00:32:02.205Z,1628814722.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:02.650Z,1628814722.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003202.93*57

2021-08-13T00:32:02.672Z,1628814722.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 180.390296 deg, deltaT: 4.431109 s, approachRate: 0.649950 m/s, LOS rate: -1.111069 deg/s, posRepo size: 4
2021-08-13T00:32:05.086Z,1628814725.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:05.437Z,1628814725.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:05.437Z,1628814725.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:05.437Z,1628814725.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:05.438Z,1628814725.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:05.837Z,1628814725.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,006DE,187,80,80,7C,FF
2021-08-13T00:32:05.837Z,1628814725.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:05.837Z,1628814725.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:05.839Z,1628814725.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:06.245Z,1628814726.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:06.653Z,1628814726.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,0070C,186,80,80,95,FF
2021-08-13T00:32:06.653Z,1628814726.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:07.103Z,1628814727.103 [Micromodem](INFO): Nmea in: $SNTTA,0.054792,,,,003207.37*4F

2021-08-13T00:32:07.135Z,1628814727.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 181.985227 deg, deltaT: 4.368661 s, approachRate: 0.631771 m/s, LOS rate: 0.365085 deg/s, posRepo size: 4
2021-08-13T00:32:09.491Z,1628814729.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:09.900Z,1628814729.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:09.901Z,1628814729.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:09.901Z,1628814729.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:09.903Z,1628814729.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:10.290Z,1628814730.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,0070C,186,80,80,95,FF
2021-08-13T00:32:10.291Z,1628814730.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:10.291Z,1628814730.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:10.317Z,1628814730.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:10.689Z,1628814730.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:11.094Z,1628814731.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00736,187,80,80,67,FF
2021-08-13T00:32:11.094Z,1628814731.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:11.511Z,1628814731.511 [Micromodem](INFO): Nmea in: $SNTTA,0.059526,,,,003211.84*40

2021-08-13T00:32:11.547Z,1628814731.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 179.224574 deg, deltaT: 4.504920 s, approachRate: 0.559389 m/s, LOS rate: -0.612808 deg/s, posRepo size: 4
2021-08-13T00:32:14.003Z,1628814734.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:14.321Z,1628814734.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:14.321Z,1628814734.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:14.321Z,1628814734.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:14.322Z,1628814734.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:14.733Z,1628814734.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00736,187,80,80,67,FF
2021-08-13T00:32:14.733Z,1628814734.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:14.733Z,1628814734.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:14.735Z,1628814734.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:15.143Z,1628814735.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:15.533Z,1628814735.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00766,186,80,80,41,FF
2021-08-13T00:32:15.533Z,1628814735.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:15.993Z,1628814735.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003216.26*5C

2021-08-13T00:32:16.097Z,1628814736.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.139999 m, bearing: 184.486442 deg, deltaT: 4.399810 s, approachRate: 0.654573 m/s, LOS rate: 1.195931 deg/s, posRepo size: 4
2021-08-13T00:32:18.085Z,1628814738.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:18.371Z,1628814738.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:18.371Z,1628814738.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:18.371Z,1628814738.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:18.372Z,1628814738.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:18.769Z,1628814738.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00766,186,80,80,41,FF
2021-08-13T00:32:18.769Z,1628814738.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:18.769Z,1628814738.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:18.771Z,1628814738.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:19.173Z,1628814739.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:19.578Z,1628814739.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,0078C,187,80,80,58,FF
2021-08-13T00:32:19.578Z,1628814739.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:20.024Z,1628814740.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003220.30*5E

2021-08-13T00:32:20.124Z,1628814740.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.420006 m, bearing: 141.296315 deg, deltaT: 4.024669 s, approachRate: 0.566508 m/s, LOS rate: -10.731349 deg/s, posRepo size: 4
2021-08-13T00:32:22.110Z,1628814742.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:22.405Z,1628814742.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:22.405Z,1628814742.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:22.405Z,1628814742.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:22.406Z,1628814742.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:22.817Z,1628814742.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,0078C,187,80,80,58,FF
2021-08-13T00:32:22.817Z,1628814742.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:22.818Z,1628814742.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:22.819Z,1628814742.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:23.216Z,1628814743.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:23.621Z,1628814743.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,007BA,187,80,80,60,FF
2021-08-13T00:32:23.621Z,1628814743.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:24.077Z,1628814744.077 [Micromodem](INFO): Nmea in: $SNTTA,0.064358,,,,003224.35*4D

2021-08-13T00:32:24.171Z,1628814744.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.180008 m, bearing: 173.850622 deg, deltaT: 4.039080 s, approachRate: 0.683324 m/s, LOS rate: 8.059832 deg/s, posRepo size: 4
2021-08-13T00:32:26.459Z,1628814746.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:26.850Z,1628814746.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:26.850Z,1628814746.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:26.850Z,1628814746.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:26.851Z,1628814746.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:27.253Z,1628814747.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,007BA,187,80,80,60,FF
2021-08-13T00:32:27.254Z,1628814747.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:27.254Z,1628814747.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:27.255Z,1628814747.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:27.443Z,1628814747.443 [CTD_Seabird](ERROR): Failed to parse device response: 5.51,23.836.60
2021-08-13T00:32:27.665Z,1628814747.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:28.061Z,1628814748.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,007E9,186,80,80,55,FF
2021-08-13T00:32:28.061Z,1628814748.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:28.505Z,1628814748.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003228.78*5A

2021-08-13T00:32:28.544Z,1628814748.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 145.580783 deg, deltaT: 4.484020 s, approachRate: 0.628898 m/s, LOS rate: -6.304575 deg/s, posRepo size: 4
2021-08-13T00:32:30.957Z,1628814750.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:31.289Z,1628814751.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:31.289Z,1628814751.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:31.289Z,1628814751.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:31.290Z,1628814751.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:31.697Z,1628814751.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,007E9,186,80,80,55,FF
2021-08-13T00:32:31.697Z,1628814751.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:31.697Z,1628814751.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:31.699Z,1628814751.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:32.109Z,1628814752.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:32.518Z,1628814752.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,0081D,186,80,80,49,FF
2021-08-13T00:32:32.519Z,1628814752.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:32.945Z,1628814752.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003233.23*5E

2021-08-13T00:32:32.964Z,1628814752.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 153.509458 deg, deltaT: 4.420879 s, approachRate: 0.705743 m/s, LOS rate: 1.793461 deg/s, posRepo size: 4
2021-08-13T00:32:35.401Z,1628814755.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:35.745Z,1628814755.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:35.745Z,1628814755.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:35.745Z,1628814755.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:35.746Z,1628814755.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:36.145Z,1628814756.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,0081D,186,80,80,49,FF
2021-08-13T00:32:36.145Z,1628814756.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:36.145Z,1628814756.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:36.147Z,1628814756.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:36.557Z,1628814756.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:36.965Z,1628814756.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00847,187,80,80,B1,FF
2021-08-13T00:32:36.965Z,1628814756.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:37.393Z,1628814757.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003237.67*5A

2021-08-13T00:32:37.431Z,1628814757.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.640007 m, bearing: 173.861209 deg, deltaT: 4.438551 s, approachRate: 0.567754 m/s, LOS rate: 4.585224 deg/s, posRepo size: 4
2021-08-13T00:32:39.798Z,1628814759.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:40.203Z,1628814760.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:40.203Z,1628814760.203 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:40.203Z,1628814760.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:40.204Z,1628814760.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:40.589Z,1628814760.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00847,187,80,80,B1,FF
2021-08-13T00:32:40.589Z,1628814760.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:40.589Z,1628814760.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:40.591Z,1628814760.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:41.029Z,1628814761.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:41.393Z,1628814761.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0087C,184,80,80,94,FF
2021-08-13T00:32:41.393Z,1628814761.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:41.847Z,1628814761.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003242.12*5A

2021-08-13T00:32:41.942Z,1628814761.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.820000 m, bearing: 164.780855 deg, deltaT: 4.498050 s, approachRate: 0.706971 m/s, LOS rate: -2.018731 deg/s, posRepo size: 4
2021-08-13T00:32:44.316Z,1628814764.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:44.621Z,1628814764.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:44.621Z,1628814764.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:44.621Z,1628814764.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:44.622Z,1628814764.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:45.049Z,1628814765.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0087C,184,80,80,94,FF
2021-08-13T00:32:45.049Z,1628814765.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:45.050Z,1628814765.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:45.057Z,1628814765.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:45.441Z,1628814765.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:45.838Z,1628814765.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,008AF,183,80,80,8A,FF
2021-08-13T00:32:45.839Z,1628814765.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:46.273Z,1628814766.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003246.58*50

2021-08-13T00:32:46.341Z,1628814766.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 168.715057 deg, deltaT: 4.462879 s, approachRate: 0.685656 m/s, LOS rate: 0.881539 deg/s, posRepo size: 4
2021-08-13T00:32:48.686Z,1628814768.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:49.094Z,1628814769.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:49.094Z,1628814769.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:49.094Z,1628814769.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:49.095Z,1628814769.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:49.473Z,1628814769.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,008AF,183,80,80,8A,FF
2021-08-13T00:32:49.473Z,1628814769.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:49.473Z,1628814769.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:49.475Z,1628814769.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:49.903Z,1628814769.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:50.289Z,1628814770.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,008E1,185,80,80,6E,FF
2021-08-13T00:32:50.290Z,1628814770.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:50.714Z,1628814770.714 [Micromodem](INFO): Nmea in: $SNTTA,0.076245,,,,003251.00*47

2021-08-13T00:32:50.774Z,1628814770.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.880005 m, bearing: 171.625373 deg, deltaT: 4.435667 s, approachRate: 0.676337 m/s, LOS rate: 0.656117 deg/s, posRepo size: 4
2021-08-13T00:32:53.177Z,1628814773.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:53.516Z,1628814773.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:53.517Z,1628814773.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:53.517Z,1628814773.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:53.519Z,1628814773.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:53.963Z,1628814773.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,008E1,185,80,80,6E,FF
2021-08-13T00:32:53.963Z,1628814773.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:53.988Z,1628814773.988 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:53.991Z,1628814773.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:54.357Z,1628814774.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:54.769Z,1628814774.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,0090E,184,80,80,9E,FF
2021-08-13T00:32:54.769Z,1628814774.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:55.183Z,1628814775.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003255.52*58

2021-08-13T00:32:55.238Z,1628814775.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 166.416316 deg, deltaT: 4.452229 s, approachRate: 0.606437 m/s, LOS rate: -1.169989 deg/s, posRepo size: 4
2021-08-13T00:32:57.599Z,1628814777.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:32:57.981Z,1628814777.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:32:57.981Z,1628814777.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:32:57.981Z,1628814777.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:32:57.982Z,1628814777.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:32:58.385Z,1628814778.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,0090E,184,80,80,9E,FF
2021-08-13T00:32:58.385Z,1628814778.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:32:58.385Z,1628814778.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:32:58.387Z,1628814778.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:32:58.797Z,1628814778.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:32:59.195Z,1628814779.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00942,186,80,80,B2,FF
2021-08-13T00:32:59.195Z,1628814779.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:32:59.653Z,1628814779.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003259.91*5B

2021-08-13T00:32:59.715Z,1628814779.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 172.978174 deg, deltaT: 4.433518 s, approachRate: 0.703731 m/s, LOS rate: 1.480057 deg/s, posRepo size: 4
2021-08-13T00:33:02.162Z,1628814782.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:02.425Z,1628814782.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:02.425Z,1628814782.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:02.425Z,1628814782.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:02.426Z,1628814782.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:02.825Z,1628814782.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00942,186,80,80,B2,FF
2021-08-13T00:33:02.825Z,1628814782.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:02.825Z,1628814782.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:02.827Z,1628814782.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:03.241Z,1628814783.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:03.656Z,1628814783.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00978,185,80,80,8E,FF
2021-08-13T00:33:03.657Z,1628814783.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:04.065Z,1628814784.065 [Micromodem](INFO): Nmea in: $SNTTA,0.471919,0.472181,,,003304.35*56

2021-08-13T00:33:04.155Z,1628814784.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 166.710615 deg, deltaT: 4.408946 s, approachRate: 0.734869 m/s, LOS rate: -1.421555 deg/s, posRepo size: 4
2021-08-13T00:33:06.179Z,1628814786.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:06.469Z,1628814786.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:06.469Z,1628814786.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:06.469Z,1628814786.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:06.470Z,1628814786.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:06.874Z,1628814786.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00978,185,80,80,8E,FF
2021-08-13T00:33:06.874Z,1628814786.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:06.874Z,1628814786.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:06.877Z,1628814786.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:07.286Z,1628814787.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:07.687Z,1628814787.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,009A3,186,80,80,A3,FF
2021-08-13T00:33:07.687Z,1628814787.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:08.105Z,1628814788.105 [Micromodem](INFO): Nmea in: $SNTTA,0.446702,0.446708,,,003308.40*58

2021-08-13T00:33:08.193Z,1628814788.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 173.314766 deg, deltaT: 4.060202 s, approachRate: 0.635435 m/s, LOS rate: 1.626557 deg/s, posRepo size: 4
2021-08-13T00:33:10.530Z,1628814790.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:10.913Z,1628814790.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:10.913Z,1628814790.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:10.913Z,1628814790.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:10.914Z,1628814790.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:11.313Z,1628814791.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,009A3,186,80,80,A3,FF
2021-08-13T00:33:11.313Z,1628814791.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:11.314Z,1628814791.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:11.315Z,1628814791.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:11.716Z,1628814791.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:12.156Z,1628814792.156 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,009D7,186,80,80,8F,FF
2021-08-13T00:33:12.157Z,1628814792.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:12.557Z,1628814792.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003312.84*51

2021-08-13T00:33:12.596Z,1628814792.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.639999 m, bearing: 160.762968 deg, deltaT: 4.490462 s, approachRate: 0.694807 m/s, LOS rate: -2.795213 deg/s, posRepo size: 4
2021-08-13T00:33:14.967Z,1628814794.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:15.381Z,1628814795.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:15.381Z,1628814795.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:15.381Z,1628814795.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:15.382Z,1628814795.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:15.757Z,1628814795.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,009D7,186,80,80,8F,FF
2021-08-13T00:33:15.757Z,1628814795.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:15.757Z,1628814795.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:15.759Z,1628814795.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:16.173Z,1628814796.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:16.569Z,1628814796.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00A0B,186,80,80,8F,FF
2021-08-13T00:33:16.569Z,1628814796.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:17.010Z,1628814797.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003317.28*52

2021-08-13T00:33:17.072Z,1628814797.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.760002 m, bearing: 175.063896 deg, deltaT: 4.436449 s, approachRate: 0.703266 m/s, LOS rate: 3.223508 deg/s, posRepo size: 4
2021-08-13T00:33:19.430Z,1628814799.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:19.797Z,1628814799.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:19.797Z,1628814799.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:19.797Z,1628814799.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:19.798Z,1628814799.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:20.209Z,1628814800.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00A0B,186,80,80,8F,FF
2021-08-13T00:33:20.209Z,1628814800.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:20.209Z,1628814800.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:20.211Z,1628814800.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:20.613Z,1628814800.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:21.013Z,1628814801.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00A41,186,80,80,8A,FF
2021-08-13T00:33:21.013Z,1628814801.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:21.458Z,1628814801.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003321.74*5E

2021-08-13T00:33:21.488Z,1628814801.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 174.833759 deg, deltaT: 4.415416 s, approachRate: 0.733792 m/s, LOS rate: -0.052121 deg/s, posRepo size: 4
2021-08-13T00:33:22.259Z,1628814802.259 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:33:23.933Z,1628814803.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:24.253Z,1628814804.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:24.253Z,1628814804.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:24.253Z,1628814804.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:24.254Z,1628814804.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:24.645Z,1628814804.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00A41,186,80,80,8A,FF
2021-08-13T00:33:24.645Z,1628814804.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:24.645Z,1628814804.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:24.647Z,1628814804.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:25.073Z,1628814805.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:25.461Z,1628814805.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00A72,187,80,80,A0,FF
2021-08-13T00:33:25.461Z,1628814805.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:25.927Z,1628814805.927 [Micromodem](INFO): Nmea in: $SNTTA,0.088546,,,,003326.17*45

2021-08-13T00:33:25.977Z,1628814805.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 173.476286 deg, deltaT: 4.439242 s, approachRate: 0.662276 m/s, LOS rate: -0.305789 deg/s, posRepo size: 4
2021-08-13T00:33:28.329Z,1628814808.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:28.689Z,1628814808.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:28.689Z,1628814808.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:28.689Z,1628814808.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:28.690Z,1628814808.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:29.097Z,1628814809.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00A72,187,80,80,A0,FF
2021-08-13T00:33:29.097Z,1628814809.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:29.097Z,1628814809.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:29.099Z,1628814809.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:29.501Z,1628814809.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:29.933Z,1628814809.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00AA8,185,80,80,96,FF
2021-08-13T00:33:29.934Z,1628814809.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:30.321Z,1628814810.321 [Micromodem](INFO): Nmea in: 000*28

2021-08-13T00:33:30.321Z,1628814810.321 [Micromodem](ERROR): Response from modem failed NMEA checksum: 000*28
 expected 0
2021-08-13T00:33:30.391Z,1628814810.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.180000 m, bearing: 172.290197 deg, deltaT: 4.561348 s, approachRate: 0.710316 m/s, LOS rate: -0.260031 deg/s, posRepo size: 4
2021-08-13T00:33:31.984Z,1628814811.984 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T00:33:32.747Z,1628814812.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:33.149Z,1628814813.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:33.149Z,1628814813.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:33.149Z,1628814813.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:33.150Z,1628814813.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:33.537Z,1628814813.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00AA8,185,80,80,96,FF
2021-08-13T00:33:33.537Z,1628814813.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:33.538Z,1628814813.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:33.539Z,1628814813.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:33.969Z,1628814813.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:34.349Z,1628814814.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00ADD,188,80,80,74,FF
2021-08-13T00:33:34.350Z,1628814814.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:34.793Z,1628814814.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003335.06*5E

2021-08-13T00:33:34.816Z,1628814814.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.360001 m, bearing: 133.634290 deg, deltaT: 4.320056 s, approachRate: 0.736102 m/s, LOS rate: -8.948011 deg/s, posRepo size: 4
2021-08-13T00:33:37.215Z,1628814817.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:37.573Z,1628814817.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:37.573Z,1628814817.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:37.573Z,1628814817.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:37.574Z,1628814817.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:37.989Z,1628814817.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00ADD,188,80,80,74,FF
2021-08-13T00:33:37.989Z,1628814817.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:37.989Z,1628814817.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:37.991Z,1628814817.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:38.401Z,1628814818.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:38.805Z,1628814818.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,00B17,189,80,80,9B,FF
2021-08-13T00:33:38.805Z,1628814818.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:39.221Z,1628814819.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003339.52*53

2021-08-13T00:33:39.267Z,1628814819.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.839996 m, bearing: 137.157534 deg, deltaT: 4.451152 s, approachRate: 0.781819 m/s, LOS rate: 0.791535 deg/s, posRepo size: 4
2021-08-13T00:33:41.646Z,1628814821.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:42.025Z,1628814822.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:42.026Z,1628814822.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:42.026Z,1628814822.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:42.028Z,1628814822.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:42.421Z,1628814822.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,00B17,189,80,80,9B,FF
2021-08-13T00:33:42.421Z,1628814822.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:42.421Z,1628814822.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:42.423Z,1628814822.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:42.855Z,1628814822.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:43.233Z,1628814823.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,00B45,189,80,80,93,FF
2021-08-13T00:33:43.233Z,1628814823.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:43.678Z,1628814823.678 [Micromodem](INFO): Nmea in: $SNTTA,0.110176,,,,003343.95*4B

2021-08-13T00:33:43.694Z,1628814823.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.600006 m, bearing: 136.379289 deg, deltaT: 4.449975 s, approachRate: 0.620230 m/s, LOS rate: -0.174888 deg/s, posRepo size: 4
2021-08-13T00:33:46.159Z,1628814826.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:46.465Z,1628814826.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:46.465Z,1628814826.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:46.465Z,1628814826.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:46.466Z,1628814826.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:46.866Z,1628814826.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,00B45,189,80,80,93,FF
2021-08-13T00:33:46.866Z,1628814826.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:46.866Z,1628814826.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:46.886Z,1628814826.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:47.281Z,1628814827.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:47.674Z,1628814827.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,00B79,188,80,80,93,FF
2021-08-13T00:33:47.674Z,1628814827.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:48.121Z,1628814828.121 [Micromodem](INFO): Nmea in: $SNTTA,0.442698,,,,003348.41*4C

2021-08-13T00:33:48.184Z,1628814828.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 137.913199 deg, deltaT: 4.433770 s, approachRate: 0.703689 m/s, LOS rate: 0.345961 deg/s, posRepo size: 4
2021-08-13T00:33:50.520Z,1628814830.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:50.910Z,1628814830.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:50.911Z,1628814830.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:50.911Z,1628814830.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:50.924Z,1628814830.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:51.313Z,1628814831.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,00B79,188,80,80,93,FF
2021-08-13T00:33:51.313Z,1628814831.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:51.313Z,1628814831.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:51.315Z,1628814831.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:51.731Z,1628814831.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:52.129Z,1628814832.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,00BAD,189,80,80,9B,FF
2021-08-13T00:33:52.129Z,1628814832.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:52.564Z,1628814832.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003352.84*55

2021-08-13T00:33:52.590Z,1628814832.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 133.254026 deg, deltaT: 4.477726 s, approachRate: 0.696785 m/s, LOS rate: -1.040522 deg/s, posRepo size: 4
2021-08-13T00:33:54.967Z,1628814834.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:55.353Z,1628814835.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:55.353Z,1628814835.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:55.354Z,1628814835.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:55.355Z,1628814835.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:33:55.745Z,1628814835.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,00BAD,189,80,80,9B,FF
2021-08-13T00:33:55.746Z,1628814835.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:33:55.746Z,1628814835.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:33:55.747Z,1628814835.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:33:56.161Z,1628814836.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:33:56.565Z,1628814836.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00BE1,189,80,80,99,FF
2021-08-13T00:33:56.566Z,1628814836.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:33:56.985Z,1628814836.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003357.27*59

2021-08-13T00:33:57.028Z,1628814837.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.959991 m, bearing: 136.853932 deg, deltaT: 4.373688 s, approachRate: 0.713352 m/s, LOS rate: 0.823082 deg/s, posRepo size: 4
2021-08-13T00:33:59.442Z,1628814839.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:33:59.789Z,1628814839.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:33:59.789Z,1628814839.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:33:59.789Z,1628814839.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:33:59.790Z,1628814839.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:00.197Z,1628814840.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00BE1,189,80,80,99,FF
2021-08-13T00:34:00.197Z,1628814840.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:00.197Z,1628814840.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:00.199Z,1628814840.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:00.614Z,1628814840.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:01.009Z,1628814841.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00C13,189,80,80,9E,FF
2021-08-13T00:34:01.010Z,1628814841.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:01.449Z,1628814841.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003401.73*5C

2021-08-13T00:34:01.475Z,1628814841.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.960007 m, bearing: 134.080452 deg, deltaT: 4.497087 s, approachRate: 0.667102 m/s, LOS rate: -0.616728 deg/s, posRepo size: 4
2021-08-13T00:34:03.935Z,1628814843.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:04.234Z,1628814844.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:04.234Z,1628814844.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:04.234Z,1628814844.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:04.235Z,1628814844.235 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:04.645Z,1628814844.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00C13,189,80,80,9E,FF
2021-08-13T00:34:04.645Z,1628814844.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:04.646Z,1628814844.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:04.647Z,1628814844.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:05.070Z,1628814845.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:05.453Z,1628814845.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,005C3,186,80,80,99,FF
2021-08-13T00:34:05.453Z,1628814845.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:05.929Z,1628814845.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003406.17*59

2021-08-13T00:34:05.976Z,1628814845.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 182.827594 deg, deltaT: 4.390454 s, approachRate: -22.084278 m/s, LOS rate: 11.102985 deg/s, posRepo size: 4
2021-08-13T00:34:08.305Z,1628814848.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:08.677Z,1628814848.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:08.677Z,1628814848.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:08.678Z,1628814848.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:08.678Z,1628814848.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:09.105Z,1628814849.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,005C3,186,80,80,99,FF
2021-08-13T00:34:09.105Z,1628814849.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:09.105Z,1628814849.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:09.107Z,1628814849.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:09.495Z,1628814849.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:09.937Z,1628814849.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00C7B,185,80,80,87,FF
2021-08-13T00:34:09.937Z,1628814849.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:10.321Z,1628814850.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003410.63*5D

2021-08-13T00:34:10.347Z,1628814850.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.200012 m, bearing: 186.097247 deg, deltaT: 4.548296 s, approachRate: 22.689819 m/s, LOS rate: 0.718874 deg/s, posRepo size: 4
2021-08-13T00:34:10.347Z,1628814850.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.20 m. Resuming terminal guidance.
2021-08-13T00:34:10.347Z,1628814850.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:34:12.738Z,1628814852.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:13.121Z,1628814853.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:13.121Z,1628814853.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:13.121Z,1628814853.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:13.122Z,1628814853.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:13.525Z,1628814853.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00C7B,185,80,80,87,FF
2021-08-13T00:34:13.525Z,1628814853.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:13.525Z,1628814853.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:13.527Z,1628814853.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:13.981Z,1628814853.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:14.346Z,1628814854.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00CB0,186,80,80,8A,FF
2021-08-13T00:34:14.346Z,1628814854.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:14.769Z,1628814854.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003415.05*58

2021-08-13T00:34:14.791Z,1628814854.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.380005 m, bearing: 181.948999 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:34:14.792Z,1628814854.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 181.948999deg and heading rate command to 0 deg/s.
2021-08-13T00:34:17.206Z,1628814857.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:17.565Z,1628814857.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:17.565Z,1628814857.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:17.566Z,1628814857.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:17.567Z,1628814857.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:17.985Z,1628814857.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00CB0,186,80,80,8A,FF
2021-08-13T00:34:17.985Z,1628814857.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:17.985Z,1628814857.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:17.987Z,1628814857.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:18.385Z,1628814858.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:18.782Z,1628814858.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00CB0,186,80,80,8A,FF
2021-08-13T00:34:18.782Z,1628814858.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:19.205Z,1628814859.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003419.51*55

2021-08-13T00:34:19.250Z,1628814859.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.380005 m, bearing: 137.722090 deg, deltaT: 4.460150 s, approachRate: 0.000000 m/s, LOS rate: -9.916014 deg/s, posRepo size: 2
2021-08-13T00:34:19.257Z,1628814859.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.380005 m,
      bearing: 137.722090 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.916014 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.948999 deg,
      new cmd heading: 181.948999 deg.

2021-08-13T00:34:21.639Z,1628814861.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:22.027Z,1628814862.027 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:22.029Z,1628814862.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:22.029Z,1628814862.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:22.031Z,1628814862.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:22.413Z,1628814862.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00CB0,186,80,80,8A,FF
2021-08-13T00:34:22.413Z,1628814862.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:22.413Z,1628814862.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:22.415Z,1628814862.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:22.821Z,1628814862.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:23.646Z,1628814863.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003423.94*55

2021-08-13T00:34:24.451Z,1628814864.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:25.249Z,1628814865.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,068FE,187,80,80,3B,FF
2021-08-13T00:34:25.250Z,1628814865.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:25.689Z,1628814865.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1575.180054 m, bearing: 195.291583 deg, deltaT: 6.450772 s, approachRate: 219.787659 m/s, LOS rate: 8.924434 deg/s, posRepo size: 3
2021-08-13T00:34:25.691Z,1628814865.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1575.180054 m,
      bearing: 195.291583 deg,
      approachRate: 219.787659 m/s,
      LOS rate: 8.924434 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.278301 deg,
      new cmd heading: 99.333653 deg.

2021-08-13T00:34:28.164Z,1628814868.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:28.477Z,1628814868.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:28.477Z,1628814868.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:28.477Z,1628814868.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:28.478Z,1628814868.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:28.883Z,1628814868.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,068FE,187,80,80,3B,FF
2021-08-13T00:34:28.883Z,1628814868.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:28.884Z,1628814868.884 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:28.885Z,1628814868.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:29.292Z,1628814869.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:29.690Z,1628814869.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,068FE,187,80,80,3B,FF
2021-08-13T00:34:29.690Z,1628814869.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:30.125Z,1628814870.125 [Micromodem](INFO): Nmea in: $SNTTA,0.114166,,,,003430.41*44

2021-08-13T00:34:30.205Z,1628814870.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1575.180054 m, bearing: 170.184969 deg, deltaT: 4.459789 s, approachRate: 0.000000 m/s, LOS rate: -5.629552 deg/s, posRepo size: 4
2021-08-13T00:34:30.207Z,1628814870.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1575.180054 m,
      bearing: 170.184969 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.629552 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 157.502250 deg,
      new cmd heading: 163.362931 deg.

2021-08-13T00:34:32.547Z,1628814872.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:32.921Z,1628814872.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:32.921Z,1628814872.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:32.921Z,1628814872.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:32.922Z,1628814872.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:33.333Z,1628814873.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,068FE,187,80,80,3B,FF
2021-08-13T00:34:33.333Z,1628814873.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:33.333Z,1628814873.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:33.335Z,1628814873.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:33.756Z,1628814873.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:34.162Z,1628814874.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00D96,189,80,80,3B,FF
2021-08-13T00:34:34.163Z,1628814874.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:34.573Z,1628814874.573 [Micromodem](INFO): Nmea in: $SNTTA,0.113615,,,,003434.86*4F

2021-08-13T00:34:34.608Z,1628814874.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 114.456861 deg, deltaT: 4.509402 s, approachRate: -311.349487 m/s, LOS rate: -12.358204 deg/s, posRepo size: 4
2021-08-13T00:34:34.609Z,1628814874.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.358204 deg/s. Setting heading cmd to target bearing of 114.456861deg and heading rate command to 0 deg/s.
2021-08-13T00:34:36.987Z,1628814876.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:37.373Z,1628814877.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:37.373Z,1628814877.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:37.373Z,1628814877.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:37.374Z,1628814877.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:37.769Z,1628814877.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00D96,189,80,80,3B,FF
2021-08-13T00:34:37.769Z,1628814877.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:37.769Z,1628814877.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:37.771Z,1628814877.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:38.193Z,1628814878.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:38.578Z,1628814878.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00D96,189,80,80,3B,FF
2021-08-13T00:34:38.578Z,1628814878.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:39.048Z,1628814879.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003439.30*50

2021-08-13T00:34:39.089Z,1628814879.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.179993 m, bearing: 157.207855 deg, deltaT: 4.390559 s, approachRate: 0.000000 m/s, LOS rate: 9.737027 deg/s, posRepo size: 4
2021-08-13T00:34:39.091Z,1628814879.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 157.207855 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.737027 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 114.456861 deg,
      new cmd heading: 114.456861 deg.

2021-08-13T00:34:41.462Z,1628814881.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:41.813Z,1628814881.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:41.813Z,1628814881.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:41.814Z,1628814881.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:41.815Z,1628814881.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:42.222Z,1628814882.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,00D96,189,80,80,3B,FF
2021-08-13T00:34:42.222Z,1628814882.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:42.222Z,1628814882.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:42.225Z,1628814882.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:42.627Z,1628814882.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:43.050Z,1628814883.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,417,000,00DF6,189,80,80,3B,FF
2021-08-13T00:34:43.050Z,1628814883.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:43.457Z,1628814883.457 [Micromodem](INFO): Nmea in: $SNTTA,0.460245,,,,003443.75*43

2021-08-13T00:34:43.479Z,1628814883.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.940002 m, bearing: 73.712959 deg, deltaT: 4.477528 s, approachRate: 1.286426 m/s, LOS rate: -18.647543 deg/s, posRepo size: 4
2021-08-13T00:34:43.480Z,1628814883.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.647543 deg/s. Setting heading cmd to target bearing of 73.712959deg and heading rate command to 0 deg/s.
2021-08-13T00:34:45.940Z,1628814885.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:46.249Z,1628814886.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:46.249Z,1628814886.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:46.250Z,1628814886.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:46.251Z,1628814886.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:46.653Z,1628814886.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
417,000,00DF6,189,80,80,3B,FF
2021-08-13T00:34:46.653Z,1628814886.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:46.654Z,1628814886.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:46.655Z,1628814886.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:47.107Z,1628814887.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:47.472Z,1628814887.472 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,00DF6,189,80,80,3B,FF
2021-08-13T00:34:47.473Z,1628814887.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:47.929Z,1628814887.929 [Micromodem](INFO): Nmea in: $SNTTA,0.121777,,,,003448.18*47

2021-08-13T00:34:47.972Z,1628814887.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.940002 m, bearing: 164.159649 deg, deltaT: 4.431307 s, approachRate: 0.000000 m/s, LOS rate: 20.410839 deg/s, posRepo size: 4
2021-08-13T00:34:47.973Z,1628814887.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.410839 deg/s. Setting heading cmd to target bearing of 164.159649deg and heading rate command to 0 deg/s.
2021-08-13T00:34:50.373Z,1628814890.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:50.693Z,1628814890.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:50.693Z,1628814890.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:50.694Z,1628814890.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:50.695Z,1628814890.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:51.122Z,1628814891.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,00DF6,189,80,80,3B,FF
2021-08-13T00:34:51.122Z,1628814891.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:51.123Z,1628814891.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:51.125Z,1628814891.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:51.517Z,1628814891.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:51.962Z,1628814891.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,00E5A,185,80,80,3B,FF
2021-08-13T00:34:51.962Z,1628814891.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:52.357Z,1628814892.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003452.65*5D

2021-08-13T00:34:52.388Z,1628814892.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.940002 m, bearing: 128.706678 deg, deltaT: 4.568926 s, approachRate: 1.313219 m/s, LOS rate: -7.759585 deg/s, posRepo size: 4
2021-08-13T00:34:52.390Z,1628814892.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.940002 m,
      bearing: 128.706678 deg,
      approachRate: 1.313219 m/s,
      LOS rate: -7.759585 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 164.159649 deg,
      new cmd heading: 164.159649 deg.

2021-08-13T00:34:54.003Z,1628814894.003 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2021-08-13T00:34:54.795Z,1628814894.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:34:55.165Z,1628814895.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:34:55.165Z,1628814895.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:34:55.165Z,1628814895.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:34:55.166Z,1628814895.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:34:55.557Z,1628814895.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,00E5A,185,80,80,3B,FF
2021-08-13T00:34:55.557Z,1628814895.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:34:55.557Z,1628814895.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:34:55.559Z,1628814895.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:34:55.977Z,1628814895.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:34:56.790Z,1628814896.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003457.08*53

2021-08-13T00:34:57.573Z,1628814897.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,04229,187,80,80,81,FF
2021-08-13T00:34:57.573Z,1628814897.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:34:58.088Z,1628814898.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 978.720032 m, bearing: 172.736577 deg, deltaT: 5.508059 s, approachRate: 144.475586 m/s, LOS rate: 7.993723 deg/s, posRepo size: 4
2021-08-13T00:34:58.090Z,1628814898.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 978.720032 m,
      bearing: 172.736577 deg,
      approachRate: 144.475586 m/s,
      LOS rate: 7.993723 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 98.101268 deg,
      new cmd heading: 92.425268 deg.

2021-08-13T00:35:00.462Z,1628814900.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:00.809Z,1628814900.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:00.809Z,1628814900.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:00.809Z,1628814900.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:00.810Z,1628814900.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:01.233Z,1628814901.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,04229,187,80,80,81,FF
2021-08-13T00:35:01.233Z,1628814901.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:01.234Z,1628814901.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:01.244Z,1628814901.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:01.625Z,1628814901.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:02.442Z,1628814902.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003502.77*5A

2021-08-13T00:35:03.247Z,1628814903.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:04.846Z,1628814904.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,81,FF
2021-08-13T00:35:04.846Z,1628814904.846 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,81,FF
2021-08-13T00:35:04.846Z,1628814904.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:35:06.177Z,1628814906.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:06.461Z,1628814906.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:06.461Z,1628814906.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:06.461Z,1628814906.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:06.462Z,1628814906.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:06.945Z,1628814906.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,81,FF
2021-08-13T00:35:06.945Z,1628814906.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:06.945Z,1628814906.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:06.947Z,1628814906.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:07.288Z,1628814907.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:08.147Z,1628814908.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00F13,186,80,80,73,FF
2021-08-13T00:35:08.148Z,1628814908.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:08.165Z,1628814908.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003508.48*5C

2021-08-13T00:35:08.524Z,1628814908.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 163.008967 deg, deltaT: 10.670084 s, approachRate: -73.540192 m/s, LOS rate: -0.911671 deg/s, posRepo size: 4
2021-08-13T00:35:08.526Z,1628814908.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.039978 m,
      bearing: 163.008967 deg,
      approachRate: -73.540192 m/s,
      LOS rate: -0.911671 deg/s,
      cmd update: -2.735014 deg/s,
      cmd heading: 226.183259 deg,
      new cmd heading: 229.011179 deg.

2021-08-13T00:35:10.931Z,1628814910.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:11.305Z,1628814911.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:11.305Z,1628814911.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:11.305Z,1628814911.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:11.306Z,1628814911.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:11.717Z,1628814911.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00F13,186,80,80,73,FF
2021-08-13T00:35:11.718Z,1628814911.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:11.718Z,1628814911.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:11.719Z,1628814911.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:12.125Z,1628814912.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:12.958Z,1628814912.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003513.25*5D

2021-08-13T00:35:13.774Z,1628814913.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:15.349Z,1628814915.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,73,FF
2021-08-13T00:35:15.350Z,1628814915.350 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,73,FF
2021-08-13T00:35:15.350Z,1628814915.350 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:35:16.654Z,1628814916.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:16.965Z,1628814916.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:16.965Z,1628814916.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:16.965Z,1628814916.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:16.966Z,1628814916.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:17.369Z,1628814917.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,73,FF
2021-08-13T00:35:17.369Z,1628814917.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:17.369Z,1628814917.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:17.371Z,1628814917.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:17.784Z,1628814917.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:18.610Z,1628814918.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003518.90*58

2021-08-13T00:35:19.454Z,1628814919.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:21.023Z,1628814921.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0873F,186,80,80,65,FF
2021-08-13T00:35:21.024Z,1628814921.024 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:21.525Z,1628814921.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2039.880005 m, bearing: 210.421012 deg, deltaT: 12.818305 s, approachRate: 144.000320 m/s, LOS rate: 3.698777 deg/s, posRepo size: 4
2021-08-13T00:35:21.527Z,1628814921.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2039.880005 m,
      bearing: 210.421012 deg,
      approachRate: 144.000320 m/s,
      LOS rate: 3.698777 deg/s,
      cmd update: 11.096330 deg/s,
      cmd heading: 191.124970 deg,
      new cmd heading: 190.027403 deg.

2021-08-13T00:35:23.905Z,1628814923.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:24.245Z,1628814924.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:24.245Z,1628814924.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:24.245Z,1628814924.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:24.245Z,1628814924.245 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:24.645Z,1628814924.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0873F,186,80,80,65,FF
2021-08-13T00:35:24.645Z,1628814924.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:24.645Z,1628814924.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:24.647Z,1628814924.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:25.071Z,1628814925.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:25.904Z,1628814925.904 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00FC7,187,80,80,72,FF
2021-08-13T00:35:25.905Z,1628814925.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:25.919Z,1628814925.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003526.17*5A

2021-08-13T00:35:26.298Z,1628814926.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.839996 m, bearing: 219.072990 deg, deltaT: 4.889479 s, approachRate: -375.303802 m/s, LOS rate: 1.769509 deg/s, posRepo size: 4
2021-08-13T00:35:26.316Z,1628814926.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.839996 m,
      bearing: 219.072990 deg,
      approachRate: -375.303802 m/s,
      LOS rate: 1.769509 deg/s,
      cmd update: 5.308528 deg/s,
      cmd heading: 245.284584 deg,
      new cmd heading: 248.732746 deg.

2021-08-13T00:35:28.699Z,1628814928.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:29.101Z,1628814929.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:29.101Z,1628814929.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:29.101Z,1628814929.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:29.102Z,1628814929.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:29.498Z,1628814929.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00FC7,187,80,80,72,FF
2021-08-13T00:35:29.499Z,1628814929.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:29.499Z,1628814929.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:29.501Z,1628814929.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:29.937Z,1628814929.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:30.765Z,1628814930.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D62,000,00FEB,189,80,80,83,FF
2021-08-13T00:35:30.766Z,1628814930.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:30.785Z,1628814930.785 [Micromodem](INFO): Nmea in: $SNTTA,0.139943,,,,003531.02*43

2021-08-13T00:35:31.154Z,1628814931.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 255.929756 deg, deltaT: 4.832202 s, approachRate: 0.447002 m/s, LOS rate: 7.627323 deg/s, posRepo size: 4
2021-08-13T00:35:31.172Z,1628814931.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 255.929756 deg,
      approachRate: 0.447002 m/s,
      LOS rate: 7.627323 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.003011 deg,
      new cmd heading: 272.712623 deg.

2021-08-13T00:35:33.578Z,1628814933.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:33.977Z,1628814933.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:33.977Z,1628814933.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:33.977Z,1628814933.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:33.978Z,1628814933.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:34.369Z,1628814934.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D62,000,00FEB,189,80,80,83,FF
2021-08-13T00:35:34.369Z,1628814934.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:34.369Z,1628814934.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:34.371Z,1628814934.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:34.753Z,1628814934.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:35.218Z,1628814935.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D82,000,00FEB,189,80,80,83,FF
2021-08-13T00:35:35.218Z,1628814935.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:35.629Z,1628814935.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003535.90*57

2021-08-13T00:35:35.651Z,1628814935.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 274.329767 deg, deltaT: 4.461781 s, approachRate: 0.000000 m/s, LOS rate: 4.123916 deg/s, posRepo size: 4
2021-08-13T00:35:35.654Z,1628814935.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 274.329767 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.123916 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 324.496864 deg,
      new cmd heading: 328.836688 deg.

2021-08-13T00:35:38.070Z,1628814938.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:38.397Z,1628814938.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:38.397Z,1628814938.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:38.397Z,1628814938.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:38.398Z,1628814938.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:38.793Z,1628814938.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D82,000,00FEB,189,80,80,83,FF
2021-08-13T00:35:38.793Z,1628814938.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:38.793Z,1628814938.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:38.795Z,1628814938.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:39.213Z,1628814939.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:40.047Z,1628814940.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,00FF9,189,80,80,A5,FF
2021-08-13T00:35:40.048Z,1628814940.048 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:40.050Z,1628814940.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003540.32*5D

2021-08-13T00:35:40.489Z,1628814940.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.839996 m, bearing: 301.062280 deg, deltaT: 4.857125 s, approachRate: 0.172941 m/s, LOS rate: 5.503773 deg/s, posRepo size: 4
2021-08-13T00:35:40.490Z,1628814940.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.839996 m,
      bearing: 301.062280 deg,
      approachRate: 0.172941 m/s,
      LOS rate: 5.503773 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.781549 deg,
      new cmd heading: 26.840813 deg.

2021-08-13T00:35:42.890Z,1628814942.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:43.257Z,1628814943.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:43.257Z,1628814943.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:43.257Z,1628814943.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:43.258Z,1628814943.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:43.645Z,1628814943.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,00FF9,189,80,80,A5,FF
2021-08-13T00:35:43.646Z,1628814943.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:43.646Z,1628814943.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:43.647Z,1628814943.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:44.084Z,1628814944.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:44.881Z,1628814944.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5C,000,00FEB,18A,80,80,9C,FF
2021-08-13T00:35:44.881Z,1628814944.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:44.885Z,1628814944.885 [Micromodem](INFO): Nmea in: $SNTTA,,0.139247,,,003545.17*4B

2021-08-13T00:35:45.330Z,1628814945.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 345.782862 deg, deltaT: 4.773154 s, approachRate: -0.175984 m/s, LOS rate: 9.369189 deg/s, posRepo size: 4
2021-08-13T00:35:45.337Z,1628814945.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 345.782862 deg,
      approachRate: -0.175984 m/s,
      LOS rate: 9.369189 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 79.818523 deg,
      new cmd heading: 84.983695 deg.

2021-08-13T00:35:47.732Z,1628814947.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:48.110Z,1628814948.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:48.111Z,1628814948.111 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:48.111Z,1628814948.111 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:48.112Z,1628814948.112 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:48.493Z,1628814948.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5C,000,00FEB,18A,80,80,9C,FF
2021-08-13T00:35:48.493Z,1628814948.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:48.493Z,1628814948.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:48.495Z,1628814948.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:49.001Z,1628814949.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:49.746Z,1628814949.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00FCD,189,80,80,86,FF
2021-08-13T00:35:49.747Z,1628814949.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:49.750Z,1628814949.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003550.02*5F

2021-08-13T00:35:50.178Z,1628814950.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.199982 m, bearing: 341.514458 deg, deltaT: 4.877406 s, approachRate: -0.369052 m/s, LOS rate: -0.875138 deg/s, posRepo size: 4
2021-08-13T00:35:50.197Z,1628814950.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.199982 m,
      bearing: 341.514458 deg,
      approachRate: -0.369052 m/s,
      LOS rate: -0.875138 deg/s,
      cmd update: -2.625414 deg/s,
      cmd heading: 138.584853 deg,
      new cmd heading: 143.160141 deg.

2021-08-13T00:35:52.547Z,1628814952.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:52.949Z,1628814952.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:52.950Z,1628814952.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:52.950Z,1628814952.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:52.951Z,1628814952.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:53.349Z,1628814953.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00FCD,189,80,80,86,FF
2021-08-13T00:35:53.349Z,1628814953.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:53.349Z,1628814953.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:53.351Z,1628814953.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:53.749Z,1628814953.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:54.585Z,1628814954.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,00FA6,189,80,80,88,FF
2021-08-13T00:35:54.586Z,1628814954.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:54.590Z,1628814954.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003554.88*59

2021-08-13T00:35:54.000Z,1628814955.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.859985 m, bearing: 351.697451 deg, deltaT: 4.833583 s, approachRate: -0.484112 m/s, LOS rate: 2.106717 deg/s, posRepo size: 4
2021-08-13T00:35:55.002Z,1628814955.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.859985 m,
      bearing: 351.697451 deg,
      approachRate: -0.484112 m/s,
      LOS rate: 2.106717 deg/s,
      cmd update: 6.320152 deg/s,
      cmd heading: 125.939560 deg,
      new cmd heading: 124.968028 deg.

2021-08-13T00:35:57.414Z,1628814957.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:35:57.793Z,1628814957.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:35:57.793Z,1628814957.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:35:57.793Z,1628814957.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:35:57.794Z,1628814957.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:35:58.197Z,1628814958.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,00FA6,189,80,80,88,FF
2021-08-13T00:35:58.197Z,1628814958.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:35:58.197Z,1628814958.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:35:58.199Z,1628814958.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:35:58.596Z,1628814958.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:35:59.011Z,1628814959.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB8,000,00618,188,80,80,76,FF
2021-08-13T00:35:59.011Z,1628814959.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:35:59.451Z,1628814959.451 [Micromodem](INFO): Nmea in: $SNTTA,0.219544,,,,003559.72*40

2021-08-13T00:35:59.510Z,1628814959.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 351.802963 deg, deltaT: 4.445953 s, approachRate: -33.009792 m/s, LOS rate: 0.023732 deg/s, posRepo size: 4
2021-08-13T00:35:59.512Z,1628814959.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.099998 m,
      bearing: 351.802963 deg,
      approachRate: -33.009792 m/s,
      LOS rate: 0.023732 deg/s,
      cmd update: 0.071197 deg/s,
      cmd heading: 154.122222 deg,
      new cmd heading: 156.884773 deg.

2021-08-13T00:36:01.898Z,1628814961.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:02.300Z,1628814962.300 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:02.300Z,1628814962.300 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:02.300Z,1628814962.300 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:02.301Z,1628814962.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:02.645Z,1628814962.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB8,000,00618,188,80,80,76,FF
2021-08-13T00:36:02.645Z,1628814962.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:02.645Z,1628814962.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:02.647Z,1628814962.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:03.072Z,1628814963.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:03.885Z,1628814963.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,00F52,189,80,80,98,FF
2021-08-13T00:36:03.886Z,1628814963.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:03.912Z,1628814963.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003604.17*59

2021-08-13T00:36:04.291Z,1628814964.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.820007 m, bearing: 352.131386 deg, deltaT: 4.918222 s, approachRate: 28.815292 m/s, LOS rate: 0.066777 deg/s, posRepo size: 4
2021-08-13T00:36:04.293Z,1628814964.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.820007 m,
      bearing: 352.131386 deg,
      approachRate: 28.815292 m/s,
      LOS rate: 0.066777 deg/s,
      cmd update: 0.200330 deg/s,
      cmd heading: 154.472683 deg,
      new cmd heading: 154.493727 deg.

2021-08-13T00:36:06.691Z,1628814966.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:07.093Z,1628814967.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:07.093Z,1628814967.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:07.093Z,1628814967.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:07.094Z,1628814967.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:07.485Z,1628814967.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,00F52,189,80,80,98,FF
2021-08-13T00:36:07.485Z,1628814967.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:07.485Z,1628814967.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:07.487Z,1628814967.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:07.927Z,1628814967.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:08.713Z,1628814968.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C61,000,00F28,189,80,80,99,FF
2021-08-13T00:36:08.713Z,1628814968.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:08.716Z,1628814968.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003609.01*53

2021-08-13T00:36:09.136Z,1628814969.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.300003 m, bearing: 350.957932 deg, deltaT: 4.733181 s, approachRate: -0.532412 m/s, LOS rate: -0.247921 deg/s, posRepo size: 4
2021-08-13T00:36:09.138Z,1628814969.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 350.957932 deg,
      approachRate: -0.532412 m/s,
      LOS rate: -0.247921 deg/s,
      cmd update: -0.743762 deg/s,
      cmd heading: 155.421604 deg,
      new cmd heading: 155.502589 deg.

2021-08-13T00:36:11.538Z,1628814971.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:11.965Z,1628814971.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:11.965Z,1628814971.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:11.965Z,1628814971.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:11.966Z,1628814971.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:12.333Z,1628814972.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C61,000,00F28,189,80,80,99,FF
2021-08-13T00:36:12.333Z,1628814972.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:12.333Z,1628814972.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:12.335Z,1628814972.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:12.737Z,1628814972.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:13.210Z,1628814973.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00F09,18A,80,80,83,FF
2021-08-13T00:36:13.210Z,1628814973.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:13.597Z,1628814973.597 [Micromodem](INFO): Nmea in: $SNTTA,0.135590,,,,003613.86*42

2021-08-13T00:36:13.613Z,1628814973.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.440002 m, bearing: 350.999050 deg, deltaT: 4.535030 s, approachRate: -0.410141 m/s, LOS rate: 0.009067 deg/s, posRepo size: 4
2021-08-13T00:36:13.615Z,1628814973.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.440002 m,
      bearing: 350.999050 deg,
      approachRate: -0.410141 m/s,
      LOS rate: 0.009067 deg/s,
      cmd update: 0.027200 deg/s,
      cmd heading: 152.048270 deg,
      new cmd heading: 151.791190 deg.

2021-08-13T00:36:16.090Z,1628814976.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:16.385Z,1628814976.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:16.385Z,1628814976.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:16.385Z,1628814976.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:16.386Z,1628814976.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:16.789Z,1628814976.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00F09,18A,80,80,83,FF
2021-08-13T00:36:16.789Z,1628814976.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:16.789Z,1628814976.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:16.791Z,1628814976.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:17.185Z,1628814977.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:18.002Z,1628814978.002 [Micromodem](INFO): Nmea in: $SNTTA,0.490809,,,,003618.32*41

2021-08-13T00:36:18.798Z,1628814978.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,04265,185,80,80,1E,FF
2021-08-13T00:36:18.798Z,1628814978.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:19.235Z,1628814979.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 982.320068 m, bearing: 260.698157 deg, deltaT: 5.547147 s, approachRate: 142.213654 m/s, LOS rate: -16.278800 deg/s, posRepo size: 4
2021-08-13T00:36:19.236Z,1628814979.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.278800 deg/s. Setting heading cmd to target bearing of 260.698157deg and heading rate command to 0 deg/s.
2021-08-13T00:36:21.647Z,1628814981.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:22.052Z,1628814982.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:22.052Z,1628814982.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:22.053Z,1628814982.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:22.053Z,1628814982.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:22.437Z,1628814982.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,04265,185,80,80,1E,FF
2021-08-13T00:36:22.437Z,1628814982.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:22.437Z,1628814982.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:22.439Z,1628814982.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:22.848Z,1628814982.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:23.675Z,1628814983.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,00EFB,185,80,80,94,FF
2021-08-13T00:36:23.675Z,1628814983.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:23.678Z,1628814983.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003623.97*54

2021-08-13T00:36:24.131Z,1628814984.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.599991 m, bearing: 263.571372 deg, deltaT: 4.879170 s, approachRate: -161.855423 m/s, LOS rate: 0.588874 deg/s, posRepo size: 4
2021-08-13T00:36:24.149Z,1628814984.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.599991 m,
      bearing: 263.571372 deg,
      approachRate: -161.855423 m/s,
      LOS rate: 0.588874 deg/s,
      cmd update: 1.766621 deg/s,
      cmd heading: 260.698157 deg,
      new cmd heading: 260.698157 deg.

2021-08-13T00:36:26.567Z,1628814986.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:26.909Z,1628814986.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:26.909Z,1628814986.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:26.909Z,1628814986.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:26.909Z,1628814986.909 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:27.297Z,1628814987.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,00EFB,185,80,80,94,FF
2021-08-13T00:36:27.297Z,1628814987.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:27.297Z,1628814987.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:27.299Z,1628814987.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:27.686Z,1628814987.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:28.513Z,1628814988.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,00F13,18A,80,80,83,FF
2021-08-13T00:36:28.514Z,1628814988.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:28.517Z,1628814988.517 [Micromodem](INFO): Nmea in: $SNTTA,0.131817,,,,003628.82*48

2021-08-13T00:36:29.034Z,1628814989.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.039978 m, bearing: 267.091651 deg, deltaT: 4.851264 s, approachRate: 0.296827 m/s, LOS rate: 0.725642 deg/s, posRepo size: 4
2021-08-13T00:36:29.066Z,1628814989.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.039978 m,
      bearing: 267.091651 deg,
      approachRate: 0.296827 m/s,
      LOS rate: 0.725642 deg/s,
      cmd update: 2.176925 deg/s,
      cmd heading: 269.246651 deg,
      new cmd heading: 270.123168 deg.

2021-08-13T00:36:31.345Z,1628814991.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:31.731Z,1628814991.731 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:31.731Z,1628814991.731 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:31.731Z,1628814991.731 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:31.732Z,1628814991.732 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:32.125Z,1628814992.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,00F13,18A,80,80,83,FF
2021-08-13T00:36:32.125Z,1628814992.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:32.125Z,1628814992.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:32.127Z,1628814992.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:32.540Z,1628814992.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:33.368Z,1628814993.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C44,000,00F2F,189,80,80,74,FF
2021-08-13T00:36:33.369Z,1628814993.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:33.372Z,1628814993.372 [Micromodem](INFO): Nmea in: $SNTTA,0.132907,,,,003633.65*48

2021-08-13T00:36:33.790Z,1628814993.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.719986 m, bearing: 284.899430 deg, deltaT: 4.852657 s, approachRate: 0.346204 m/s, LOS rate: 3.669697 deg/s, posRepo size: 4
2021-08-13T00:36:33.793Z,1628814993.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.719986 m,
      bearing: 284.899430 deg,
      approachRate: 0.346204 m/s,
      LOS rate: 3.669697 deg/s,
      cmd update: 11.009090 deg/s,
      cmd heading: 279.837657 deg,
      new cmd heading: 280.692492 deg.

2021-08-13T00:36:36.252Z,1628814996.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:36.569Z,1628814996.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:36.569Z,1628814996.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:36.569Z,1628814996.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:36.570Z,1628814996.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:36.985Z,1628814996.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C44,000,00F2F,189,80,80,74,FF
2021-08-13T00:36:36.985Z,1628814996.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:36.985Z,1628814996.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:36.987Z,1628814996.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:37.381Z,1628814997.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:38.201Z,1628814998.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00F3B,187,80,80,AD,FF
2021-08-13T00:36:38.201Z,1628814998.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:38.204Z,1628814998.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003638.51*54

2021-08-13T00:36:38.632Z,1628814998.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.439987 m, bearing: 283.815861 deg, deltaT: 4.905055 s, approachRate: 0.146788 m/s, LOS rate: -0.220909 deg/s, posRepo size: 4
2021-08-13T00:36:38.634Z,1628814998.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.439987 m,
      bearing: 283.815861 deg,
      approachRate: 0.146788 m/s,
      LOS rate: -0.220909 deg/s,
      cmd update: -0.662726 deg/s,
      cmd heading: 333.792338 deg,
      new cmd heading: 337.457055 deg.

2021-08-13T00:36:41.102Z,1628815001.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:41.433Z,1628815001.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:41.433Z,1628815001.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:41.433Z,1628815001.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:41.434Z,1628815001.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:41.844Z,1628815001.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00F3B,187,80,80,AD,FF
2021-08-13T00:36:41.845Z,1628815001.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:41.846Z,1628815001.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:41.849Z,1628815001.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:42.236Z,1628815002.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:43.092Z,1628815003.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003643.37*58

2021-08-13T00:36:43.939Z,1628815003.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:44.266Z,1628815004.266 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T00:36:44.276Z,1628815004.276 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:36:45.461Z,1628815005.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,AD,FF
2021-08-13T00:36:45.461Z,1628815005.461 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,AD,FF
2021-08-13T00:36:45.461Z,1628815005.461 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:36:46.712Z,1628815006.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:47.093Z,1628815007.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:47.093Z,1628815007.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:47.093Z,1628815007.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:47.094Z,1628815007.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:47.486Z,1628815007.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,AD,FF
2021-08-13T00:36:47.486Z,1628815007.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:47.487Z,1628815007.487 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:47.489Z,1628815007.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:47.927Z,1628815007.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:48.717Z,1628815008.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,00F2D,189,80,80,64,FF
2021-08-13T00:36:48.717Z,1628815008.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:48.720Z,1628815008.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003649.02*54

2021-08-13T00:36:49.170Z,1628815009.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.599976 m, bearing: 348.990701 deg, deltaT: 10.465228 s, approachRate: -0.080267 m/s, LOS rate: 6.227752 deg/s, posRepo size: 4
2021-08-13T00:36:49.172Z,1628815009.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.599976 m,
      bearing: 348.990701 deg,
      approachRate: -0.080267 m/s,
      LOS rate: 6.227752 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.856764 deg,
      new cmd heading: 326.587744 deg.

2021-08-13T00:36:51.571Z,1628815011.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:51.965Z,1628815011.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:51.965Z,1628815011.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:51.965Z,1628815011.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:51.966Z,1628815011.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:52.341Z,1628815012.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,00F2D,189,80,80,64,FF
2021-08-13T00:36:52.341Z,1628815012.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:52.341Z,1628815012.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:52.345Z,1628815012.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:52.737Z,1628815012.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:53.641Z,1628815013.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00EFC,186,80,80,A1,FF
2021-08-13T00:36:53.642Z,1628815013.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:53.645Z,1628815013.645 [Micromodem](INFO): Nmea in: $SNTTA,0.130553,,,,003653.87*4D

2021-08-13T00:36:54.113Z,1628815014.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.659988 m, bearing: 301.486626 deg, deltaT: 4.929507 s, approachRate: -0.596406 m/s, LOS rate: -9.636679 deg/s, posRepo size: 4
2021-08-13T00:36:54.115Z,1628815014.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.659988 m,
      bearing: 301.486626 deg,
      approachRate: -0.596406 m/s,
      LOS rate: -9.636679 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.958314 deg,
      new cmd heading: 30.998638 deg.

2021-08-13T00:36:56.412Z,1628815016.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:36:56.781Z,1628815016.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:36:56.781Z,1628815016.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:36:56.781Z,1628815016.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:36:56.782Z,1628815016.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:36:57.181Z,1628815017.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00EFC,186,80,80,A1,FF
2021-08-13T00:36:57.181Z,1628815017.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:36:57.182Z,1628815017.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:36:57.183Z,1628815017.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:36:57.595Z,1628815017.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:36:58.416Z,1628815018.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00ED2,186,80,80,B1,FF
2021-08-13T00:36:58.417Z,1628815018.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:36:58.424Z,1628815018.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003658.71*50

2021-08-13T00:36:58.825Z,1628815018.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.139984 m, bearing: 354.103153 deg, deltaT: 4.742123 s, approachRate: -0.531408 m/s, LOS rate: 11.095564 deg/s, posRepo size: 4
2021-08-13T00:36:58.827Z,1628815018.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.139984 m,
      bearing: 354.103153 deg,
      approachRate: -0.531408 m/s,
      LOS rate: 11.095564 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.951292 deg,
      new cmd heading: 324.380816 deg.

2021-08-13T00:37:01.257Z,1628815021.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:01.621Z,1628815021.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:01.621Z,1628815021.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:01.621Z,1628815021.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:01.622Z,1628815021.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:02.049Z,1628815022.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00ED2,186,80,80,B1,FF
2021-08-13T00:37:02.049Z,1628815022.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:02.050Z,1628815022.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:02.053Z,1628815022.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:02.433Z,1628815022.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:03.249Z,1628815023.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,00EA5,187,80,80,80,FF
2021-08-13T00:37:03.250Z,1628815023.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:03.255Z,1628815023.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003703.58*54

2021-08-13T00:37:03.687Z,1628815023.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 352.764955 deg, deltaT: 4.862091 s, approachRate: -0.555313 m/s, LOS rate: -0.275231 deg/s, posRepo size: 4
2021-08-13T00:37:03.690Z,1628815023.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 352.764955 deg,
      approachRate: -0.555313 m/s,
      LOS rate: -0.275231 deg/s,
      cmd update: -0.825693 deg/s,
      cmd heading: 27.296194 deg,
      new cmd heading: 31.925926 deg.

2021-08-13T00:37:06.161Z,1628815026.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:06.469Z,1628815026.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:06.469Z,1628815026.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:06.469Z,1628815026.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:06.470Z,1628815026.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:06.945Z,1628815026.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,00EA5,187,80,80,80,FF
2021-08-13T00:37:06.945Z,1628815026.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:06.946Z,1628815026.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:06.947Z,1628815026.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:07.292Z,1628815027.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:08.117Z,1628815028.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00E72,183,80,80,B1,FF
2021-08-13T00:37:08.117Z,1628815028.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:08.120Z,1628815028.120 [Micromodem](INFO): Nmea in: $SNTTA,0.128432,0.411379,,,003708.47*56

2021-08-13T00:37:08.596Z,1628815028.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.380005 m, bearing: 356.789275 deg, deltaT: 4.892542 s, approachRate: -0.625441 m/s, LOS rate: 0.822542 deg/s, posRepo size: 4
2021-08-13T00:37:08.605Z,1628815028.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.380005 m,
      bearing: 356.789275 deg,
      approachRate: -0.625441 m/s,
      LOS rate: 0.822542 deg/s,
      cmd update: 2.467625 deg/s,
      cmd heading: 23.259709 deg,
      new cmd heading: 22.938234 deg.

2021-08-13T00:37:10.934Z,1628815030.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:11.317Z,1628815031.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:11.317Z,1628815031.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:11.317Z,1628815031.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:11.318Z,1628815031.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:11.732Z,1628815031.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00E72,183,80,80,B1,FF
2021-08-13T00:37:11.733Z,1628815031.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:11.733Z,1628815031.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:11.735Z,1628815031.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:12.129Z,1628815032.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:12.949Z,1628815032.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,00E3E,185,80,80,AA,FF
2021-08-13T00:37:12.950Z,1628815032.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:12.953Z,1628815032.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003713.26*5C

2021-08-13T00:37:13.388Z,1628815033.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 353.313911 deg, deltaT: 4.774394 s, approachRate: -0.653485 m/s, LOS rate: -0.727917 deg/s, posRepo size: 4
2021-08-13T00:37:13.390Z,1628815033.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 353.313911 deg,
      approachRate: -0.653485 m/s,
      LOS rate: -0.727917 deg/s,
      cmd update: -2.183752 deg/s,
      cmd heading: 35.050134 deg,
      new cmd heading: 36.084824 deg.

2021-08-13T00:37:15.794Z,1628815035.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:16.161Z,1628815036.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:16.161Z,1628815036.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:16.161Z,1628815036.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:16.162Z,1628815036.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:16.565Z,1628815036.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,00E3E,185,80,80,AA,FF
2021-08-13T00:37:16.565Z,1628815036.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:16.565Z,1628815036.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:16.567Z,1628815036.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:16.976Z,1628815036.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:17.385Z,1628815037.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,00E3E,185,80,80,AA,FF
2021-08-13T00:37:17.386Z,1628815037.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:17.821Z,1628815037.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003718.09*5A

2021-08-13T00:37:17.851Z,1628815037.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 342.906943 deg, deltaT: 4.484628 s, approachRate: 0.000000 m/s, LOS rate: -2.320587 deg/s, posRepo size: 4
2021-08-13T00:37:17.854Z,1628815037.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 342.906943 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.320587 deg/s,
      cmd update: -6.961760 deg/s,
      cmd heading: 25.274186 deg,
      new cmd heading: 24.389845 deg.

2021-08-13T00:37:20.326Z,1628815040.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:20.637Z,1628815040.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:20.637Z,1628815040.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:20.637Z,1628815040.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:20.637Z,1628815040.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:21.025Z,1628815041.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,00E3E,185,80,80,AA,FF
2021-08-13T00:37:21.025Z,1628815041.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:21.026Z,1628815041.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:21.031Z,1628815041.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:21.436Z,1628815041.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:21.909Z,1628815041.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:21.910Z,1628815041.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:22.289Z,1628815042.289 [Micromodem](INFO): Nmea in: $SNTTA,0.127908,,,,003722.56*42

2021-08-13T00:37:22.329Z,1628815042.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 346.085002 deg, deltaT: 4.526883 s, approachRate: -0.994065 m/s, LOS rate: 0.702041 deg/s, posRepo size: 4
2021-08-13T00:37:22.331Z,1628815042.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.759995 m,
      bearing: 346.085002 deg,
      approachRate: -0.994065 m/s,
      LOS rate: 0.702041 deg/s,
      cmd update: 2.106124 deg/s,
      cmd heading: 353.727486 deg,
      new cmd heading: 351.272122 deg.

2021-08-13T00:37:24.670Z,1628815044.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:25.065Z,1628815045.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:25.065Z,1628815045.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:25.065Z,1628815045.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:25.066Z,1628815045.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:25.457Z,1628815045.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:25.457Z,1628815045.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:25.457Z,1628815045.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:25.459Z,1628815045.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:25.884Z,1628815045.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:26.262Z,1628815046.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:26.262Z,1628815046.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:26.713Z,1628815046.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003726.99*5E

2021-08-13T00:37:26.756Z,1628815046.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 331.360672 deg, deltaT: 4.393425 s, approachRate: 0.000000 m/s, LOS rate: -3.351447 deg/s, posRepo size: 4
2021-08-13T00:37:26.758Z,1628815046.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.759995 m,
      bearing: 331.360672 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.351447 deg/s,
      cmd update: -10.054341 deg/s,
      cmd heading: 2.970649 deg,
      new cmd heading: 3.750983 deg.

2021-08-13T00:37:29.135Z,1628815049.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:29.493Z,1628815049.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:29.493Z,1628815049.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:29.493Z,1628815049.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:29.494Z,1628815049.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:29.941Z,1628815049.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:29.941Z,1628815049.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:29.941Z,1628815049.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:29.943Z,1628815049.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:30.326Z,1628815050.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:30.742Z,1628815050.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:30.742Z,1628815050.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:31.153Z,1628815051.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003731.47*5B

2021-08-13T00:37:31.179Z,1628815051.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 351.730345 deg, deltaT: 4.428303 s, approachRate: 0.000000 m/s, LOS rate: 4.599882 deg/s, posRepo size: 4
2021-08-13T00:37:31.186Z,1628815051.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.759995 m,
      bearing: 351.730345 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.599882 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.402361 deg,
      new cmd heading: 314.572019 deg.

2021-08-13T00:37:33.639Z,1628815053.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:33.989Z,1628815053.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:33.989Z,1628815053.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:33.989Z,1628815053.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:33.990Z,1628815053.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:34.381Z,1628815054.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00DF3,189,80,80,C2,FF
2021-08-13T00:37:34.381Z,1628815054.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:34.381Z,1628815054.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:34.383Z,1628815054.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:34.793Z,1628815054.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:35.237Z,1628815055.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00251,185,80,80,93,FF
2021-08-13T00:37:35.238Z,1628815055.238 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T00:37:35.654Z,1628815055.654 [Micromodem](INFO): Nmea in: $SNTTA,0.112747,,,,003735.91*4C

2021-08-13T00:37:36.457Z,1628815056.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:39.293Z,1628815059.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:39.645Z,1628815059.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:39.645Z,1628815059.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:39.645Z,1628815059.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:39.646Z,1628815059.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:40.062Z,1628815060.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00251,185,80,80,93,FF
2021-08-13T00:37:40.063Z,1628815060.063 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:40.063Z,1628815060.063 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:40.065Z,1628815060.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:40.457Z,1628815060.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:40.858Z,1628815060.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00251,185,80,80,93,FF
2021-08-13T00:37:40.859Z,1628815060.859 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T00:37:41.285Z,1628815061.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003741.59*53

2021-08-13T00:37:42.164Z,1628815062.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:44.943Z,1628815064.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:45.305Z,1628815065.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:45.306Z,1628815065.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:45.306Z,1628815065.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:45.307Z,1628815065.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:45.709Z,1628815065.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00251,185,80,80,93,FF
2021-08-13T00:37:45.709Z,1628815065.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:45.710Z,1628815065.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:45.711Z,1628815065.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:46.125Z,1628815066.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:46.514Z,1628815066.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,00D05,185,80,80,93,FF
2021-08-13T00:37:46.514Z,1628815066.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:46.949Z,1628815066.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003747.24*5F

2021-08-13T00:37:46.990Z,1628815066.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 350.629701 deg, deltaT: 15.735513 s, approachRate: -0.907500 m/s, LOS rate: -0.069946 deg/s, posRepo size: 4
2021-08-13T00:37:46.993Z,1628815066.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.480011 m,
      bearing: 350.629701 deg,
      approachRate: -0.907500 m/s,
      LOS rate: -0.069946 deg/s,
      cmd update: -0.209839 deg/s,
      cmd heading: 147.256421 deg,
      new cmd heading: 152.711393 deg.

2021-08-13T00:37:49.075Z,1628815069.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:49.377Z,1628815069.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:49.377Z,1628815069.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:49.377Z,1628815069.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:49.378Z,1628815069.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:49.753Z,1628815069.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,00D05,185,80,80,93,FF
2021-08-13T00:37:49.753Z,1628815069.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:49.753Z,1628815069.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:49.755Z,1628815069.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:50.213Z,1628815070.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:50.263Z,1628815070.263 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:37:50.633Z,1628815070.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,00CDF,189,80,80,9A,FF
2021-08-13T00:37:50.634Z,1628815070.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:51.040Z,1628815071.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003751.28*54

2021-08-13T00:37:51.075Z,1628815071.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 342.444894 deg, deltaT: 4.113124 s, approachRate: -0.554327 m/s, LOS rate: -1.989925 deg/s, posRepo size: 4
2021-08-13T00:37:51.094Z,1628815071.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 342.444894 deg,
      approachRate: -0.554327 m/s,
      LOS rate: -1.989925 deg/s,
      cmd update: -5.969774 deg/s,
      cmd heading: 146.392967 deg,
      new cmd heading: 146.303819 deg.

2021-08-13T00:37:53.458Z,1628815073.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:53.846Z,1628815073.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:53.846Z,1628815073.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:53.847Z,1628815073.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:53.849Z,1628815073.849 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:54.252Z,1628815074.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,00CDF,189,80,80,9A,FF
2021-08-13T00:37:54.253Z,1628815074.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:54.253Z,1628815074.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:54.255Z,1628815074.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:54.645Z,1628815074.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:55.073Z,1628815075.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CB,000,00CC1,189,80,80,9A,FF
2021-08-13T00:37:55.074Z,1628815075.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:55.473Z,1628815075.473 [Micromodem](INFO): Nmea in: $SNTTA,0.107624,,,,003755.78*4D

2021-08-13T00:37:55.507Z,1628815075.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.400009 m, bearing: 337.575652 deg, deltaT: 4.453006 s, approachRate: -0.404219 m/s, LOS rate: -1.093473 deg/s, posRepo size: 4
2021-08-13T00:37:55.510Z,1628815075.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 337.575652 deg,
      approachRate: -0.404219 m/s,
      LOS rate: -1.093473 deg/s,
      cmd update: -3.280419 deg/s,
      cmd heading: 119.809570 deg,
      new cmd heading: 117.400700 deg.

2021-08-13T00:37:57.969Z,1628815077.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:37:58.282Z,1628815078.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:37:58.282Z,1628815078.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:37:58.283Z,1628815078.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:37:58.283Z,1628815078.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:37:58.677Z,1628815078.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CB,000,00CC1,189,80,80,9A,FF
2021-08-13T00:37:58.678Z,1628815078.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:37:58.678Z,1628815078.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:37:58.679Z,1628815078.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:37:59.113Z,1628815079.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:37:59.486Z,1628815079.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CAE,189,80,80,9A,FF
2021-08-13T00:37:59.486Z,1628815079.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:37:59.969Z,1628815079.969 [Micromodem](INFO): Nmea in: $SNTTA,0.104462,,,,003800.21*4D

2021-08-13T00:38:00.071Z,1628815080.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 354.172684 deg, deltaT: 4.428189 s, approachRate: -0.257441 m/s, LOS rate: 3.748041 deg/s, posRepo size: 4
2021-08-13T00:38:00.078Z,1628815080.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 354.172684 deg,
      approachRate: -0.257441 m/s,
      LOS rate: 3.748041 deg/s,
      cmd update: 11.244122 deg/s,
      cmd heading: 105.363533 deg,
      new cmd heading: 103.513672 deg.

2021-08-13T00:38:02.077Z,1628815082.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:02.405Z,1628815082.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:02.405Z,1628815082.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:02.405Z,1628815082.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:02.406Z,1628815082.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:02.753Z,1628815082.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CAE,189,80,80,9A,FF
2021-08-13T00:38:02.753Z,1628815082.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:02.753Z,1628815082.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:02.755Z,1628815082.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:03.147Z,1628815083.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:04.017Z,1628815084.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CA6,189,80,80,9E,FF
2021-08-13T00:38:04.018Z,1628815084.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:04.031Z,1628815084.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003804.28*5B

2021-08-13T00:38:04.390Z,1628815084.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.779999 m, bearing: 14.393203 deg, deltaT: 4.607930 s, approachRate: -0.104171 m/s, LOS rate: 4.388200 deg/s, posRepo size: 4
2021-08-13T00:38:04.392Z,1628815084.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.779999 m,
      bearing: 14.393203 deg,
      approachRate: -0.104171 m/s,
      LOS rate: 4.388200 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.451163 deg,
      new cmd heading: 160.264555 deg.

2021-08-13T00:38:06.790Z,1628815086.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:07.161Z,1628815087.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:07.161Z,1628815087.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:07.161Z,1628815087.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:07.162Z,1628815087.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:07.573Z,1628815087.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CA6,189,80,80,9E,FF
2021-08-13T00:38:07.574Z,1628815087.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:07.574Z,1628815087.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:07.576Z,1628815087.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:07.989Z,1628815087.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:08.381Z,1628815088.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C52,000,00CB1,18A,80,80,9E,FF
2021-08-13T00:38:08.382Z,1628815088.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:08.815Z,1628815088.815 [Micromodem](INFO): Nmea in: $SNTTA,0.104361,,,,003809.10*42

2021-08-13T00:38:08.842Z,1628815088.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.440002 m, bearing: 143.269078 deg, deltaT: 4.303212 s, approachRate: 0.153375 m/s, LOS rate: 29.948764 deg/s, posRepo size: 4
2021-08-13T00:38:08.843Z,1628815088.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 29.948764 deg/s. Setting heading cmd to target bearing of 143.269078deg and heading rate command to 0 deg/s.
2021-08-13T00:38:11.248Z,1628815091.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:11.605Z,1628815091.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:11.606Z,1628815091.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:11.606Z,1628815091.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:11.607Z,1628815091.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:12.013Z,1628815092.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C52,000,00CB1,18A,80,80,9E,FF
2021-08-13T00:38:12.013Z,1628815092.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:12.013Z,1628815092.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:12.015Z,1628815092.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:12.421Z,1628815092.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:12.822Z,1628815092.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00CC5,188,80,80,9E,FF
2021-08-13T00:38:12.822Z,1628815092.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:13.261Z,1628815093.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003813.54*56

2021-08-13T00:38:13.287Z,1628815093.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 85.247714 deg, deltaT: 4.476344 s, approachRate: 0.268075 m/s, LOS rate: -12.961775 deg/s, posRepo size: 4
2021-08-13T00:38:13.288Z,1628815093.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.961775 deg/s. Setting heading cmd to target bearing of 85.247714deg and heading rate command to 0 deg/s.
2021-08-13T00:38:15.674Z,1628815095.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:16.147Z,1628815096.147 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:16.147Z,1628815096.147 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:16.147Z,1628815096.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:16.149Z,1628815096.149 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:16.480Z,1628815096.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00CC5,188,80,80,9E,FF
2021-08-13T00:38:16.481Z,1628815096.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:16.481Z,1628815096.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:16.482Z,1628815096.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:16.881Z,1628815096.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:17.674Z,1628815097.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003818.01*5D

2021-08-13T00:38:18.491Z,1628815098.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:18.890Z,1628815098.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,05256,189,80,80,45,FF
2021-08-13T00:38:18.890Z,1628815098.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:19.322Z,1628815099.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1227.180054 m, bearing: 168.494879 deg, deltaT: 5.991908 s, approachRate: 178.330521 m/s, LOS rate: 13.893265 deg/s, posRepo size: 4
2021-08-13T00:38:19.323Z,1628815099.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.893265 deg/s. Setting heading cmd to target bearing of 168.494879deg and heading rate command to 0 deg/s.
2021-08-13T00:38:21.731Z,1628815101.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:22.109Z,1628815102.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:22.109Z,1628815102.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:22.109Z,1628815102.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:22.110Z,1628815102.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:22.521Z,1628815102.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,05256,189,80,80,45,FF
2021-08-13T00:38:22.521Z,1628815102.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:22.521Z,1628815102.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:22.523Z,1628815102.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:22.942Z,1628815102.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:23.330Z,1628815103.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00D27,189,80,80,45,FF
2021-08-13T00:38:23.330Z,1628815103.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:23.766Z,1628815103.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003824.05*56

2021-08-13T00:38:23.784Z,1628815103.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.520004 m, bearing: 165.828647 deg, deltaT: 4.496357 s, approachRate: -236.337997 m/s, LOS rate: -0.592976 deg/s, posRepo size: 4
2021-08-13T00:38:23.786Z,1628815103.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 165.828647 deg,
      approachRate: -236.337997 m/s,
      LOS rate: -0.592976 deg/s,
      cmd update: -1.778929 deg/s,
      cmd heading: 168.494879 deg,
      new cmd heading: 168.494879 deg.

2021-08-13T00:38:26.218Z,1628815106.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:26.561Z,1628815106.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:26.561Z,1628815106.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:26.562Z,1628815106.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:26.563Z,1628815106.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:26.961Z,1628815106.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00D27,189,80,80,45,FF
2021-08-13T00:38:26.961Z,1628815106.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:26.961Z,1628815106.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:26.963Z,1628815106.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:27.429Z,1628815107.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:27.781Z,1628815107.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,483,000,00D55,18A,80,80,45,FF
2021-08-13T00:38:27.782Z,1628815107.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:28.217Z,1628815108.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003828.49*52

2021-08-13T00:38:28.244Z,1628815108.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.279999 m, bearing: 73.811300 deg, deltaT: 4.442992 s, approachRate: 0.621202 m/s, LOS rate: -20.710672 deg/s, posRepo size: 4
2021-08-13T00:38:28.245Z,1628815108.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.710672 deg/s. Setting heading cmd to target bearing of 73.811300deg and heading rate command to 0 deg/s.
2021-08-13T00:38:30.657Z,1628815110.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:31.024Z,1628815111.024 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:31.025Z,1628815111.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:31.025Z,1628815111.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:31.027Z,1628815111.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:31.409Z,1628815111.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
483,000,00D55,18A,80,80,45,FF
2021-08-13T00:38:31.409Z,1628815111.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:31.409Z,1628815111.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:31.411Z,1628815111.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:31.813Z,1628815111.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:32.222Z,1628815112.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00D55,18A,80,80,45,FF
2021-08-13T00:38:32.222Z,1628815112.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:32.226Z,1628815112.226 [Micromodem](INFO): Nmea in: $SNTTA,0.115317,0.178704,,,003832.94*54

2021-08-13T00:38:32.644Z,1628815112.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.279999 m, bearing: 170.185638 deg, deltaT: 4.474685 s, approachRate: 0.000000 m/s, LOS rate: 21.537682 deg/s, posRepo size: 4
2021-08-13T00:38:32.645Z,1628815112.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.537682 deg/s. Setting heading cmd to target bearing of 170.185638deg and heading rate command to 0 deg/s.
2021-08-13T00:38:34.257Z,1628815114.257 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:38:35.087Z,1628815115.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:35.434Z,1628815115.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:35.434Z,1628815115.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:35.435Z,1628815115.435 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:35.436Z,1628815115.436 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:35.859Z,1628815115.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00D55,18A,80,80,45,FF
2021-08-13T00:38:35.859Z,1628815115.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:35.864Z,1628815115.864 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:35.875Z,1628815115.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:36.262Z,1628815116.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:37.097Z,1628815117.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,00DB8,187,80,80,59,FF
2021-08-13T00:38:37.097Z,1628815117.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:37.102Z,1628815117.102 [Micromodem](INFO): Nmea in: $SNTTA,0.135306,,,,003837.40*49

2021-08-13T00:38:37.501Z,1628815117.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.220001 m, bearing: 168.434855 deg, deltaT: 4.805533 s, approachRate: 1.236076 m/s, LOS rate: -0.364326 deg/s, posRepo size: 4
2021-08-13T00:38:37.507Z,1628815117.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.220001 m,
      bearing: 168.434855 deg,
      approachRate: 1.236076 m/s,
      LOS rate: -0.364326 deg/s,
      cmd update: -1.092979 deg/s,
      cmd heading: 170.185638 deg,
      new cmd heading: 170.185638 deg.

2021-08-13T00:38:39.991Z,1628815119.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:40.293Z,1628815120.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:40.293Z,1628815120.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:40.293Z,1628815120.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:40.294Z,1628815120.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:40.769Z,1628815120.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,00DB8,187,80,80,59,FF
2021-08-13T00:38:40.769Z,1628815120.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:40.769Z,1628815120.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:40.771Z,1628815120.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:41.132Z,1628815121.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:41.973Z,1628815121.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003842.30*50

2021-08-13T00:38:42.748Z,1628815122.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:44.337Z,1628815124.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,59,FF
2021-08-13T00:38:44.337Z,1628815124.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,59,FF
2021-08-13T00:38:44.338Z,1628815124.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:38:45.571Z,1628815125.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:45.973Z,1628815125.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:45.974Z,1628815125.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:45.974Z,1628815125.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:45.975Z,1628815125.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:46.354Z,1628815126.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,59,FF
2021-08-13T00:38:46.354Z,1628815126.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:46.354Z,1628815126.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:46.356Z,1628815126.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:46.767Z,1628815126.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:47.157Z,1628815127.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,00587,186,80,80,53,FF
2021-08-13T00:38:47.157Z,1628815127.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:47.605Z,1628815127.605 [Micromodem](INFO): Nmea in: $SNTTA,0.122306,,,,003847.88*4C

2021-08-13T00:38:47.622Z,1628815127.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 155.048682 deg, deltaT: 10.090289 s, approachRate: -12.469416 m/s, LOS rate: -1.326639 deg/s, posRepo size: 4
2021-08-13T00:38:47.624Z,1628815127.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.399998 m,
      bearing: 155.048682 deg,
      approachRate: -12.469416 m/s,
      LOS rate: -1.326639 deg/s,
      cmd update: -3.979918 deg/s,
      cmd heading: 159.166168 deg,
      new cmd heading: 158.719139 deg.

2021-08-13T00:38:50.078Z,1628815130.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:50.397Z,1628815130.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:50.397Z,1628815130.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:50.397Z,1628815130.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:50.398Z,1628815130.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:50.793Z,1628815130.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,00587,186,80,80,53,FF
2021-08-13T00:38:50.793Z,1628815130.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:50.793Z,1628815130.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:50.795Z,1628815130.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:51.231Z,1628815131.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:52.038Z,1628815132.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,00E5B,186,80,80,92,FF
2021-08-13T00:38:52.039Z,1628815132.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:52.077Z,1628815132.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003852.32*53

2021-08-13T00:38:52.444Z,1628815132.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.000000 m, bearing: 179.393266 deg, deltaT: 4.914021 s, approachRate: 27.594511 m/s, LOS rate: 4.954107 deg/s, posRepo size: 4
2021-08-13T00:38:52.446Z,1628815132.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 179.393266 deg,
      approachRate: 27.594511 m/s,
      LOS rate: 4.954107 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 139.576220 deg,
      new cmd heading: 138.346723 deg.

2021-08-13T00:38:54.897Z,1628815134.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:55.269Z,1628815135.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:55.269Z,1628815135.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:55.269Z,1628815135.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:55.270Z,1628815135.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:38:55.681Z,1628815135.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,00E5B,186,80,80,92,FF
2021-08-13T00:38:55.681Z,1628815135.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:38:55.682Z,1628815135.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:38:55.683Z,1628815135.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:38:56.092Z,1628815136.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:38:56.513Z,1628815136.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,00E5B,186,80,80,92,FF
2021-08-13T00:38:56.514Z,1628815136.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:38:56.929Z,1628815136.929 [Micromodem](INFO): Nmea in: $SNTTA,0.126744,,,,003857.21*48

2021-08-13T00:38:56.964Z,1628815136.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.000000 m, bearing: 129.964635 deg, deltaT: 4.422411 s, approachRate: 0.000000 m/s, LOS rate: -11.176852 deg/s, posRepo size: 4
2021-08-13T00:38:56.966Z,1628815136.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 129.964635 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.176852 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.640377 deg,
      new cmd heading: 197.518665 deg.

2021-08-13T00:38:59.329Z,1628815139.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:38:59.678Z,1628815139.678 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:38:59.678Z,1628815139.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:38:59.679Z,1628815139.679 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:38:59.680Z,1628815139.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:00.110Z,1628815140.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,00E5B,186,80,80,92,FF
2021-08-13T00:39:00.110Z,1628815140.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:00.110Z,1628815140.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:00.113Z,1628815140.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:00.497Z,1628815140.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:01.309Z,1628815141.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003901.64*57

2021-08-13T00:39:02.166Z,1628815142.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:03.721Z,1628815143.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,92,FF
2021-08-13T00:39:03.721Z,1628815143.721 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,92,FF
2021-08-13T00:39:03.721Z,1628815143.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:39:04.978Z,1628815144.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:05.337Z,1628815145.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:05.337Z,1628815145.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:05.337Z,1628815145.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:05.338Z,1628815145.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:05.743Z,1628815145.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,92,FF
2021-08-13T00:39:05.743Z,1628815145.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:05.743Z,1628815145.743 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:05.748Z,1628815145.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:06.160Z,1628815146.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:06.977Z,1628815146.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBB,000,00F0A,186,80,80,7A,FF
2021-08-13T00:39:06.977Z,1628815146.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:06.980Z,1628815146.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003907.28*59

2021-08-13T00:39:07.437Z,1628815147.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.499985 m, bearing: 185.236602 deg, deltaT: 10.492864 s, approachRate: 1.000679 m/s, LOS rate: 5.267577 deg/s, posRepo size: 4
2021-08-13T00:39:07.439Z,1628815147.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.499985 m,
      bearing: 185.236602 deg,
      approachRate: 1.000679 m/s,
      LOS rate: 5.267577 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 67.040742 deg,
      new cmd heading: 62.318105 deg.

2021-08-13T00:39:09.849Z,1628815149.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:10.209Z,1628815150.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:10.209Z,1628815150.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:10.209Z,1628815150.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:10.210Z,1628815150.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:10.601Z,1628815150.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBB,000,00F0A,186,80,80,7A,FF
2021-08-13T00:39:10.601Z,1628815150.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:10.601Z,1628815150.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:10.603Z,1628815150.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:11.001Z,1628815151.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:11.815Z,1628815151.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,00F43,189,80,80,3D,FF
2021-08-13T00:39:11.816Z,1628815151.816 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:11.819Z,1628815151.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003912.14*52

2021-08-13T00:39:12.318Z,1628815152.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.919983 m, bearing: 119.868017 deg, deltaT: 4.784276 s, approachRate: 0.714841 m/s, LOS rate: -13.663214 deg/s, posRepo size: 4
2021-08-13T00:39:12.319Z,1628815152.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.663214 deg/s. Setting heading cmd to target bearing of 119.868017deg and heading rate command to 0 deg/s.
2021-08-13T00:39:14.647Z,1628815154.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:15.052Z,1628815155.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:15.053Z,1628815155.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:15.053Z,1628815155.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:15.055Z,1628815155.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:15.449Z,1628815155.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,00F43,189,80,80,3D,FF
2021-08-13T00:39:15.449Z,1628815155.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:15.449Z,1628815155.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:15.451Z,1628815155.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:15.887Z,1628815155.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:16.672Z,1628815156.672 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41E,000,00F7C,189,80,80,86,FF
2021-08-13T00:39:16.672Z,1628815156.672 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:16.675Z,1628815156.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003916.98*52

2021-08-13T00:39:17.118Z,1628815157.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.339981 m, bearing: 78.835485 deg, deltaT: 4.856541 s, approachRate: 0.704204 m/s, LOS rate: -8.448921 deg/s, posRepo size: 4
2021-08-13T00:39:17.137Z,1628815157.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 78.835485 deg,
      approachRate: 0.704204 m/s,
      LOS rate: -8.448921 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 119.868017 deg,
      new cmd heading: 119.868017 deg.

2021-08-13T00:39:19.527Z,1628815159.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:19.927Z,1628815159.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:19.927Z,1628815159.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:19.927Z,1628815159.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:19.928Z,1628815159.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:20.293Z,1628815160.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41E,000,00F7C,189,80,80,86,FF
2021-08-13T00:39:20.293Z,1628815160.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:20.293Z,1628815160.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:20.295Z,1628815160.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:20.717Z,1628815160.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:21.588Z,1628815161.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,00FAC,18A,80,80,37,FF
2021-08-13T00:39:21.589Z,1628815161.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:21.591Z,1628815161.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003921.82*5D

2021-08-13T00:39:22.050Z,1628815162.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.219986 m, bearing: 84.364912 deg, deltaT: 4.982718 s, approachRate: 0.577999 m/s, LOS rate: 1.109721 deg/s, posRepo size: 4
2021-08-13T00:39:22.075Z,1628815162.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.219986 m,
      bearing: 84.364912 deg,
      approachRate: 0.577999 m/s,
      LOS rate: 1.109721 deg/s,
      cmd update: 3.329163 deg/s,
      cmd heading: 60.084976 deg,
      new cmd heading: 55.628968 deg.

2021-08-13T00:39:24.373Z,1628815164.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:24.729Z,1628815164.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:24.729Z,1628815164.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:24.729Z,1628815164.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:24.730Z,1628815164.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:25.142Z,1628815165.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,00FAC,18A,80,80,37,FF
2021-08-13T00:39:25.143Z,1628815165.143 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:25.143Z,1628815165.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:25.145Z,1628815165.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:25.221Z,1628815165.221 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:39:25.551Z,1628815165.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:26.365Z,1628815166.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,00FD8,188,80,80,99,FF
2021-08-13T00:39:26.366Z,1628815166.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:26.369Z,1628815166.369 [Micromodem](INFO): Nmea in: $SNTTA,0.139589,,,,003926.67*40

2021-08-13T00:39:26.776Z,1628815166.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.859985 m, bearing: 69.521859 deg, deltaT: 4.765609 s, approachRate: 0.553969 m/s, LOS rate: -3.114618 deg/s, posRepo size: 4
2021-08-13T00:39:26.778Z,1628815166.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.859985 m,
      bearing: 69.521859 deg,
      approachRate: 0.553969 m/s,
      LOS rate: -3.114618 deg/s,
      cmd update: -9.343855 deg/s,
      cmd heading: 75.939783 deg,
      new cmd heading: 77.073360 deg.

2021-08-13T00:39:27.196Z,1628815167.196 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T00:39:27.196Z,1628815167.196 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T00:39:27.196Z,1628815167.196 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T00:39:27.344Z,1628815167.344 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T00:39:27.648Z,1628815167.648 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T00:39:28.527Z,1628815168.527 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T00:39:28.530Z,1628815168.530 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T00:39:29.206Z,1628815169.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:29.581Z,1628815169.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:29.581Z,1628815169.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:29.581Z,1628815169.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:29.582Z,1628815169.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:29.985Z,1628815169.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
301,000,00FD8,188,80,80,99,FF
2021-08-13T00:39:29.985Z,1628815169.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:29.985Z,1628815169.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:29.987Z,1628815169.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:30.389Z,1628815170.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:31.222Z,1628815171.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1ED,000,00FF5,186,80,80,AA,FF
2021-08-13T00:39:31.222Z,1628815171.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:31.225Z,1628815171.225 [Micromodem](INFO): Nmea in: $SNTTA,0.406090,,,,003931.52*44

2021-08-13T00:39:31.644Z,1628815171.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.599976 m, bearing: 65.559987 deg, deltaT: 4.829803 s, approachRate: 0.360261 m/s, LOS rate: -0.820297 deg/s, posRepo size: 4
2021-08-13T00:39:31.646Z,1628815171.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.599976 m,
      bearing: 65.559987 deg,
      approachRate: 0.360261 m/s,
      LOS rate: -0.820297 deg/s,
      cmd update: -2.460890 deg/s,
      cmd heading: 30.851076 deg,
      new cmd heading: 27.275211 deg.

2021-08-13T00:39:34.072Z,1628815174.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:34.425Z,1628815174.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:34.425Z,1628815174.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:34.425Z,1628815174.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:34.426Z,1628815174.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:34.905Z,1628815174.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1ED,000,00FF5,186,80,80,AA,FF
2021-08-13T00:39:34.905Z,1628815174.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:34.905Z,1628815174.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:34.907Z,1628815174.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:35.269Z,1628815175.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:36.053Z,1628815176.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E2,000,0100A,189,80,80,95,FF
2021-08-13T00:39:36.053Z,1628815176.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:36.525Z,1628815176.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003936.44*51

2021-08-13T00:39:36.547Z,1628815176.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.860001 m, bearing: 11.751568 deg, deltaT: 4.884268 s, approachRate: 0.257976 m/s, LOS rate: -11.016680 deg/s, posRepo size: 4
2021-08-13T00:39:36.550Z,1628815176.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.860001 m,
      bearing: 11.751568 deg,
      approachRate: 0.257976 m/s,
      LOS rate: -11.016680 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 18.834864 deg,
      new cmd heading: 17.841479 deg.

2021-08-13T00:39:38.895Z,1628815178.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:39.283Z,1628815179.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:39.283Z,1628815179.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:39.284Z,1628815179.284 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:39.285Z,1628815179.285 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:39.677Z,1628815179.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E2,000,0100A,189,80,80,95,FF
2021-08-13T00:39:39.677Z,1628815179.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:39.677Z,1628815179.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:39.679Z,1628815179.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:40.093Z,1628815180.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:40.913Z,1628815180.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0100C,189,80,80,B0,FF
2021-08-13T00:39:40.913Z,1628815180.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:40.939Z,1628815180.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003941.21*52

2021-08-13T00:39:41.353Z,1628815181.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.979996 m, bearing: 351.008230 deg, deltaT: 4.802097 s, approachRate: 0.024988 m/s, LOS rate: -4.319640 deg/s, posRepo size: 4
2021-08-13T00:39:41.355Z,1628815181.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.979996 m,
      bearing: 351.008230 deg,
      approachRate: 0.024988 m/s,
      LOS rate: -4.319640 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 321.098422 deg,
      new cmd heading: 316.325146 deg.

2021-08-13T00:39:43.754Z,1628815183.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:44.137Z,1628815184.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:44.137Z,1628815184.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:44.137Z,1628815184.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:44.138Z,1628815184.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:44.533Z,1628815184.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0100C,189,80,80,B0,FF
2021-08-13T00:39:44.533Z,1628815184.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:44.533Z,1628815184.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:44.535Z,1628815184.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:44.952Z,1628815184.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:45.774Z,1628815185.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003946.06*50

2021-08-13T00:39:46.173Z,1628815186.173 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:39:46.566Z,1628815186.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:48.233Z,1628815188.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,B0,FF
2021-08-13T00:39:48.233Z,1628815188.233 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,B0,FF
2021-08-13T00:39:48.233Z,1628815188.233 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:39:49.411Z,1628815189.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:49.789Z,1628815189.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:49.789Z,1628815189.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:49.789Z,1628815189.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:49.790Z,1628815189.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:50.253Z,1628815190.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,B0,FF
2021-08-13T00:39:50.253Z,1628815190.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:50.253Z,1628815190.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:50.255Z,1628815190.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:50.675Z,1628815190.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:51.455Z,1628815191.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,333,000,00FD7,189,80,80,8D,FF
2021-08-13T00:39:51.457Z,1628815191.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:51.479Z,1628815191.479 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003951.78*5F

2021-08-13T00:39:51.933Z,1628815191.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.800003 m, bearing: 337.242639 deg, deltaT: 10.540017 s, approachRate: -0.301707 m/s, LOS rate: -1.306031 deg/s, posRepo size: 4
2021-08-13T00:39:51.935Z,1628815191.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.800003 m,
      bearing: 337.242639 deg,
      approachRate: -0.301707 m/s,
      LOS rate: -1.306031 deg/s,
      cmd update: -3.918094 deg/s,
      cmd heading: 194.613582 deg,
      new cmd heading: 189.421002 deg.

2021-08-13T00:39:54.317Z,1628815194.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:54.665Z,1628815194.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:54.665Z,1628815194.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:54.665Z,1628815194.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:54.666Z,1628815194.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:55.078Z,1628815195.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
333,000,00FD7,189,80,80,8D,FF
2021-08-13T00:39:55.078Z,1628815195.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:55.078Z,1628815195.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:55.079Z,1628815195.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:39:55.480Z,1628815195.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:39:56.301Z,1628815196.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00FB3,187,80,80,78,FF
2021-08-13T00:39:56.301Z,1628815196.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:39:56.304Z,1628815196.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003956.61*50

2021-08-13T00:39:56.720Z,1628815196.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.639984 m, bearing: 336.534922 deg, deltaT: 4.849519 s, approachRate: -0.445409 m/s, LOS rate: -0.145935 deg/s, posRepo size: 4
2021-08-13T00:39:56.722Z,1628815196.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.639984 m,
      bearing: 336.534922 deg,
      approachRate: -0.445409 m/s,
      LOS rate: -0.145935 deg/s,
      cmd update: -0.437806 deg/s,
      cmd heading: 175.691952 deg,
      new cmd heading: 174.142863 deg.

2021-08-13T00:39:57.985Z,1628815197.985 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T00:39:59.143Z,1628815199.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:39:59.521Z,1628815199.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:39:59.521Z,1628815199.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:39:59.521Z,1628815199.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:39:59.522Z,1628815199.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:39:59.957Z,1628815199.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00FB3,187,80,80,78,FF
2021-08-13T00:39:59.957Z,1628815199.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:39:59.957Z,1628815199.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:39:59.959Z,1628815199.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:00.345Z,1628815200.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:01.147Z,1628815201.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,00F7E,189,80,80,84,FF
2021-08-13T00:40:01.148Z,1628815201.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:01.155Z,1628815201.155 [Micromodem](INFO): Nmea in: $SNTTA,0.136157,,,,004001.49*4F

2021-08-13T00:40:01.645Z,1628815201.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.459991 m, bearing: 335.516487 deg, deltaT: 4.888329 s, approachRate: -0.650528 m/s, LOS rate: -0.208340 deg/s, posRepo size: 4
2021-08-13T00:40:01.647Z,1628815201.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.459991 m,
      bearing: 335.516487 deg,
      approachRate: -0.650528 m/s,
      LOS rate: -0.208340 deg/s,
      cmd update: -0.625021 deg/s,
      cmd heading: 173.546707 deg,
      new cmd heading: 173.363301 deg.

2021-08-13T00:40:04.054Z,1628815204.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:04.401Z,1628815204.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:04.401Z,1628815204.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:04.401Z,1628815204.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:04.402Z,1628815204.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:04.777Z,1628815204.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,00F7E,189,80,80,84,FF
2021-08-13T00:40:04.777Z,1628815204.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:04.777Z,1628815204.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:04.779Z,1628815204.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:05.192Z,1628815205.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:06.002Z,1628815206.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F62,189,80,80,62,FF
2021-08-13T00:40:06.002Z,1628815206.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:06.007Z,1628815206.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004006.30*5F

2021-08-13T00:40:06.419Z,1628815206.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.779984 m, bearing: 332.941642 deg, deltaT: 4.856284 s, approachRate: -0.345945 m/s, LOS rate: -0.530209 deg/s, posRepo size: 4
2021-08-13T00:40:06.422Z,1628815206.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.779984 m,
      bearing: 332.941642 deg,
      approachRate: -0.345945 m/s,
      LOS rate: -0.530209 deg/s,
      cmd update: -1.590627 deg/s,
      cmd heading: 170.505985 deg,
      new cmd heading: 170.299928 deg.

2021-08-13T00:40:08.839Z,1628815208.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:09.213Z,1628815209.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:09.213Z,1628815209.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:09.214Z,1628815209.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:09.215Z,1628815209.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:09.613Z,1628815209.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F62,189,80,80,62,FF
2021-08-13T00:40:09.613Z,1628815209.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:09.613Z,1628815209.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:09.615Z,1628815209.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:10.022Z,1628815210.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:10.853Z,1628815210.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004011.14*5F

2021-08-13T00:40:11.368Z,1628815211.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:13.253Z,1628815213.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:13.254Z,1628815213.253 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:13.254Z,1628815213.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:40:14.168Z,1628815214.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:14.481Z,1628815214.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:14.481Z,1628815214.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:14.481Z,1628815214.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:14.482Z,1628815214.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:14.990Z,1628815214.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:14.990Z,1628815214.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:14.990Z,1628815214.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:15.053Z,1628815215.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:15.356Z,1628815215.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:16.556Z,1628815216.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004016.58*50

2021-08-13T00:40:17.076Z,1628815217.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:18.207Z,1628815218.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:40:18.574Z,1628815218.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:18.574Z,1628815218.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:18.574Z,1628815218.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:40:19.846Z,1628815219.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:20.193Z,1628815220.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:20.193Z,1628815220.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:20.194Z,1628815220.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:20.194Z,1628815220.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:20.591Z,1628815220.591 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,62,FF
2021-08-13T00:40:20.591Z,1628815220.591 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:20.591Z,1628815220.591 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:20.594Z,1628815220.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:21.012Z,1628815221.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:21.844Z,1628815221.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,00F68,188,80,80,BB,FF
2021-08-13T00:40:21.845Z,1628815221.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:21.852Z,1628815221.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004022.12*59

2021-08-13T00:40:22.269Z,1628815222.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.139984 m, bearing: 73.301795 deg, deltaT: 15.939301 s, approachRate: 0.022586 m/s, LOS rate: 6.296395 deg/s, posRepo size: 4
2021-08-13T00:40:22.273Z,1628815222.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.139984 m,
      bearing: 73.301795 deg,
      approachRate: 0.022586 m/s,
      LOS rate: 6.296395 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 145.153899 deg,
      new cmd heading: 144.771924 deg.

2021-08-13T00:40:24.678Z,1628815224.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:25.037Z,1628815225.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:25.037Z,1628815225.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:25.037Z,1628815225.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:25.038Z,1628815225.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:25.445Z,1628815225.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,00F68,188,80,80,BB,FF
2021-08-13T00:40:25.445Z,1628815225.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:25.446Z,1628815225.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:25.447Z,1628815225.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:25.880Z,1628815225.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:26.682Z,1628815226.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004026.97*50

2021-08-13T00:40:27.491Z,1628815227.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:29.101Z,1628815229.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,BB,FF
2021-08-13T00:40:29.101Z,1628815229.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,BB,FF
2021-08-13T00:40:29.101Z,1628815229.101 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:40:30.016Z,1628815230.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:30.293Z,1628815230.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:30.293Z,1628815230.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:30.293Z,1628815230.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:30.294Z,1628815230.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:30.787Z,1628815230.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,BB,FF
2021-08-13T00:40:30.787Z,1628815230.787 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:30.787Z,1628815230.787 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:30.789Z,1628815230.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:31.124Z,1628815231.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:31.981Z,1628815231.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00FCE,187,80,80,6D,FF
2021-08-13T00:40:31.982Z,1628815231.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:32.030Z,1628815232.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004032.31*59

2021-08-13T00:40:32.374Z,1628815232.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.259995 m, bearing: 121.082301 deg, deltaT: 10.060771 s, approachRate: 0.608304 m/s, LOS rate: 4.749189 deg/s, posRepo size: 4
2021-08-13T00:40:32.377Z,1628815232.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.259995 m,
      bearing: 121.082301 deg,
      approachRate: 0.608304 m/s,
      LOS rate: 4.749189 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 265.891446 deg,
      new cmd heading: 269.308674 deg.

2021-08-13T00:40:34.779Z,1628815234.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:35.157Z,1628815235.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:35.157Z,1628815235.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:35.157Z,1628815235.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:35.158Z,1628815235.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:35.565Z,1628815235.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00FCE,187,80,80,6D,FF
2021-08-13T00:40:35.565Z,1628815235.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:35.565Z,1628815235.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:35.567Z,1628815235.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:35.976Z,1628815235.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:36.797Z,1628815236.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,0100A,184,80,80,32,FF
2021-08-13T00:40:36.798Z,1628815236.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:36.801Z,1628815236.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004037.10*5F

2021-08-13T00:40:37.223Z,1628815237.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.860001 m, bearing: 169.475763 deg, deltaT: 4.726570 s, approachRate: 0.761653 m/s, LOS rate: 10.238600 deg/s, posRepo size: 4
2021-08-13T00:40:37.226Z,1628815237.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.860001 m,
      bearing: 169.475763 deg,
      approachRate: 0.761653 m/s,
      LOS rate: 10.238600 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 322.611236 deg,
      new cmd heading: 327.495260 deg.

2021-08-13T00:40:39.634Z,1628815239.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:40.009Z,1628815240.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:40.009Z,1628815240.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:40.009Z,1628815240.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:40.010Z,1628815240.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:40.414Z,1628815240.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,0100A,184,80,80,32,FF
2021-08-13T00:40:40.414Z,1628815240.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:40.414Z,1628815240.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:40.416Z,1628815240.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:40.817Z,1628815240.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:41.718Z,1628815241.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,01030,187,80,80,84,FF
2021-08-13T00:40:41.718Z,1628815241.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:41.746Z,1628815241.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004041.94*52

2021-08-13T00:40:42.138Z,1628815242.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.139984 m, bearing: 196.742588 deg, deltaT: 4.990630 s, approachRate: 0.456853 m/s, LOS rate: 5.463604 deg/s, posRepo size: 4
2021-08-13T00:40:42.141Z,1628815242.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.139984 m,
      bearing: 196.742588 deg,
      approachRate: 0.456853 m/s,
      LOS rate: 5.463604 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.487997 deg,
      new cmd heading: 26.477385 deg.

2021-08-13T00:40:44.495Z,1628815244.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:44.873Z,1628815244.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:44.873Z,1628815244.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:44.874Z,1628815244.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:44.875Z,1628815244.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:45.269Z,1628815245.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,01030,187,80,80,84,FF
2021-08-13T00:40:45.269Z,1628815245.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:45.269Z,1628815245.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:45.271Z,1628815245.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:45.664Z,1628815245.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:46.485Z,1628815246.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,01057,186,80,80,6C,FF
2021-08-13T00:40:46.486Z,1628815246.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:46.488Z,1628815246.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004046.80*50

2021-08-13T00:40:46.954Z,1628815246.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.479996 m, bearing: 189.686320 deg, deltaT: 4.697005 s, approachRate: 0.498192 m/s, LOS rate: -1.502291 deg/s, posRepo size: 4
2021-08-13T00:40:46.962Z,1628815246.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.479996 m,
      bearing: 189.686320 deg,
      approachRate: 0.498192 m/s,
      LOS rate: -1.502291 deg/s,
      cmd update: -4.506873 deg/s,
      cmd heading: 78.862595 deg,
      new cmd heading: 84.260423 deg.

2021-08-13T00:40:49.355Z,1628815249.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:49.709Z,1628815249.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:49.709Z,1628815249.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:49.710Z,1628815249.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:49.710Z,1628815249.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:50.146Z,1628815250.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,01057,186,80,80,6C,FF
2021-08-13T00:40:50.146Z,1628815250.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:50.146Z,1628815250.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:50.148Z,1628815250.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:50.522Z,1628815250.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:51.323Z,1628815251.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,01086,186,80,80,8A,FF
2021-08-13T00:40:51.324Z,1628815251.324 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:51.330Z,1628815251.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004051.68*50

2021-08-13T00:40:51.786Z,1628815251.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.300003 m, bearing: 198.080076 deg, deltaT: 4.917823 s, approachRate: 0.573426 m/s, LOS rate: 1.706803 deg/s, posRepo size: 4
2021-08-13T00:40:51.793Z,1628815251.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.300003 m,
      bearing: 198.080076 deg,
      approachRate: 0.573426 m/s,
      LOS rate: 1.706803 deg/s,
      cmd update: 5.120410 deg/s,
      cmd heading: 56.756505 deg,
      new cmd heading: 55.054660 deg.

2021-08-13T00:40:54.233Z,1628815254.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:54.571Z,1628815254.571 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:54.571Z,1628815254.571 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:54.571Z,1628815254.571 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:54.572Z,1628815254.572 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:54.977Z,1628815254.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,01086,186,80,80,8A,FF
2021-08-13T00:40:54.977Z,1628815254.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:54.977Z,1628815254.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:54.979Z,1628815254.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:40:55.364Z,1628815255.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:40:56.193Z,1628815256.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,010B9,185,80,80,80,FF
2021-08-13T00:40:56.193Z,1628815256.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:40:56.196Z,1628815256.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004056.51*5D

2021-08-13T00:40:56.681Z,1628815256.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.360001 m, bearing: 162.380371 deg, deltaT: 4.855623 s, approachRate: 0.630197 m/s, LOS rate: -7.352240 deg/s, posRepo size: 4
2021-08-13T00:40:56.683Z,1628815256.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.360001 m,
      bearing: 162.380371 deg,
      approachRate: 0.630197 m/s,
      LOS rate: -7.352240 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 81.641695 deg,
      new cmd heading: 83.749312 deg.

2021-08-13T00:40:56.956Z,1628815256.956 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T00:40:56.958Z,1628815256.958 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T00:40:59.033Z,1628815259.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:40:59.397Z,1628815259.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:40:59.397Z,1628815259.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:40:59.397Z,1628815259.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:40:59.398Z,1628815259.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:40:59.802Z,1628815259.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,010B9,185,80,80,80,FF
2021-08-13T00:40:59.802Z,1628815259.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:40:59.802Z,1628815259.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:40:59.804Z,1628815259.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:00.213Z,1628815260.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:01.037Z,1628815261.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,279,000,010F0,189,80,80,5A,FF
2021-08-13T00:41:01.037Z,1628815261.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:01.040Z,1628815261.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004101.33*5A

2021-08-13T00:41:01.460Z,1628815261.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.659988 m, bearing: 109.463111 deg, deltaT: 4.829116 s, approachRate: 0.683352 m/s, LOS rate: -10.957960 deg/s, posRepo size: 4
2021-08-13T00:41:01.462Z,1628815261.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.659988 m,
      bearing: 109.463111 deg,
      approachRate: 0.683352 m/s,
      LOS rate: -10.957960 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 23.637954 deg,
      new cmd heading: 19.352610 deg.

2021-08-13T00:41:03.938Z,1628815263.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:04.253Z,1628815264.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:04.253Z,1628815264.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:04.254Z,1628815264.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:04.255Z,1628815264.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:04.662Z,1628815264.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
279,000,010F0,189,80,80,5A,FF
2021-08-13T00:41:04.662Z,1628815264.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:04.662Z,1628815264.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:04.664Z,1628815264.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:05.060Z,1628815265.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:05.909Z,1628815265.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C6,000,0112A,18A,80,80,62,FF
2021-08-13T00:41:05.910Z,1628815265.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:05.922Z,1628815265.922 [Micromodem](INFO): Nmea in: $SNTTA,0.157955,,,,004106.19*41

2021-08-13T00:41:06.299Z,1628815266.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.139999 m, bearing: 63.602988 deg, deltaT: 4.905087 s, approachRate: 0.709470 m/s, LOS rate: -9.349503 deg/s, posRepo size: 4
2021-08-13T00:41:06.302Z,1628815266.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.139999 m,
      bearing: 63.602988 deg,
      approachRate: 0.709470 m/s,
      LOS rate: -9.349503 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 324.776956 deg,
      new cmd heading: 321.274768 deg.

2021-08-13T00:41:08.715Z,1628815268.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:09.097Z,1628815269.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:09.097Z,1628815269.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:09.097Z,1628815269.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:09.098Z,1628815269.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:09.505Z,1628815269.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C6,000,0112A,18A,80,80,62,FF
2021-08-13T00:41:09.505Z,1628815269.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:09.505Z,1628815269.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:09.507Z,1628815269.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:09.966Z,1628815269.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:10.749Z,1628815270.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004111.03*58

2021-08-13T00:41:11.517Z,1628815271.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38F,000,0449D,188,80,80,91,FF
2021-08-13T00:41:11.518Z,1628815271.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:12.051Z,1628815272.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1016.400024 m, bearing: 58.167264 deg, deltaT: 5.557649 s, approachRate: 142.193222 m/s, LOS rate: -0.978062 deg/s, posRepo size: 4
2021-08-13T00:41:12.057Z,1628815272.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1016.400024 m,
      bearing: 58.167264 deg,
      approachRate: 142.193222 m/s,
      LOS rate: -0.978062 deg/s,
      cmd update: -2.934185 deg/s,
      cmd heading: 258.038917 deg,
      new cmd heading: 252.256189 deg.

2021-08-13T00:41:14.379Z,1628815274.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:14.753Z,1628815274.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:14.753Z,1628815274.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:14.753Z,1628815274.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:14.754Z,1628815274.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:15.165Z,1628815275.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38F,000,0449D,188,80,80,91,FF
2021-08-13T00:41:15.165Z,1628815275.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:15.165Z,1628815275.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:15.167Z,1628815275.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:15.574Z,1628815275.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:16.402Z,1628815276.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17F,000,0117E,186,80,80,A0,FF
2021-08-13T00:41:16.402Z,1628815276.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:16.405Z,1628815276.405 [Micromodem](INFO): Nmea in: $SNTTA,0.156066,,,,004116.70*47

2021-08-13T00:41:16.820Z,1628815276.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.179993 m, bearing: 75.762255 deg, deltaT: 4.884162 s, approachRate: -160.768631 m/s, LOS rate: 3.602459 deg/s, posRepo size: 4
2021-08-13T00:41:16.822Z,1628815276.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.179993 m,
      bearing: 75.762255 deg,
      approachRate: -160.768631 m/s,
      LOS rate: 3.602459 deg/s,
      cmd update: 10.807376 deg/s,
      cmd heading: 243.719110 deg,
      new cmd heading: 242.632628 deg.

2021-08-13T00:41:19.254Z,1628815279.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:19.605Z,1628815279.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:19.605Z,1628815279.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:19.605Z,1628815279.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:19.606Z,1628815279.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:20.006Z,1628815280.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17F,000,0117E,186,80,80,A0,FF
2021-08-13T00:41:20.006Z,1628815280.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:20.006Z,1628815280.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:20.025Z,1628815280.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:20.413Z,1628815280.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:21.273Z,1628815281.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,011A7,188,80,80,9E,FF
2021-08-13T00:41:21.273Z,1628815281.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:21.277Z,1628815281.277 [Micromodem](INFO): Nmea in: $SNTTA,0.158064,,,,004121.55*48

2021-08-13T00:41:21.675Z,1628815281.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.639984 m, bearing: 82.383713 deg, deltaT: 4.896273 s, approachRate: 0.502421 m/s, LOS rate: 1.352347 deg/s, posRepo size: 4
2021-08-13T00:41:21.678Z,1628815281.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.639984 m,
      bearing: 82.383713 deg,
      approachRate: 0.502421 m/s,
      LOS rate: 1.352347 deg/s,
      cmd update: 4.057040 deg/s,
      cmd heading: 296.642949 deg,
      new cmd heading: 300.195614 deg.

2021-08-13T00:41:24.142Z,1628815284.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:24.457Z,1628815284.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:24.457Z,1628815284.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:24.457Z,1628815284.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:24.458Z,1628815284.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:24.850Z,1628815284.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,011A7,188,80,80,9E,FF
2021-08-13T00:41:24.850Z,1628815284.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:24.851Z,1628815284.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:24.873Z,1628815284.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:25.260Z,1628815285.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:26.075Z,1628815286.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,011D7,189,80,80,87,FF
2021-08-13T00:41:26.076Z,1628815286.076 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:26.079Z,1628815286.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004126.40*5B

2021-08-13T00:41:26.527Z,1628815286.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.519989 m, bearing: 154.219852 deg, deltaT: 4.866911 s, approachRate: 0.591752 m/s, LOS rate: 14.760109 deg/s, posRepo size: 4
2021-08-13T00:41:26.528Z,1628815286.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.760109 deg/s. Setting heading cmd to target bearing of 154.219852deg and heading rate command to 0 deg/s.
2021-08-13T00:41:28.986Z,1628815288.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:29.299Z,1628815289.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:29.300Z,1628815289.300 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:29.300Z,1628815289.300 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:29.301Z,1628815289.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:29.721Z,1628815289.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,011D7,189,80,80,87,FF
2021-08-13T00:41:29.721Z,1628815289.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:29.721Z,1628815289.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:29.723Z,1628815289.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:30.109Z,1628815290.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:30.960Z,1628815290.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,0120A,189,80,80,AE,FF
2021-08-13T00:41:30.961Z,1628815290.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:30.963Z,1628815290.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004131.25*5E

2021-08-13T00:41:31.357Z,1628815291.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.579987 m, bearing: 69.462498 deg, deltaT: 4.772932 s, approachRate: 0.641115 m/s, LOS rate: -17.757922 deg/s, posRepo size: 4
2021-08-13T00:41:31.357Z,1628815291.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.757922 deg/s. Setting heading cmd to target bearing of 69.462498deg and heading rate command to 0 deg/s.
2021-08-13T00:41:33.760Z,1628815293.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:34.145Z,1628815294.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:34.145Z,1628815294.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:34.145Z,1628815294.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:34.146Z,1628815294.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:34.549Z,1628815294.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,0120A,189,80,80,AE,FF
2021-08-13T00:41:34.549Z,1628815294.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:34.549Z,1628815294.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:34.551Z,1628815294.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:34.972Z,1628815294.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:35.821Z,1628815295.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,01242,186,80,80,1E,FF
2021-08-13T00:41:35.821Z,1628815295.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:35.824Z,1628815295.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004136.08*56

2021-08-13T00:41:36.190Z,1628815296.190 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:41:36.214Z,1628815296.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.939987 m, bearing: 100.853084 deg, deltaT: 4.933053 s, approachRate: 0.681120 m/s, LOS rate: 6.363318 deg/s, posRepo size: 4
2021-08-13T00:41:36.216Z,1628815296.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.939987 m,
      bearing: 100.853084 deg,
      approachRate: 0.681120 m/s,
      LOS rate: 6.363318 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.462498 deg,
      new cmd heading: 69.462498 deg.

2021-08-13T00:41:38.212Z,1628815298.212 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:41:38.604Z,1628815298.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:38.997Z,1628815298.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:38.997Z,1628815298.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:38.997Z,1628815298.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:38.997Z,1628815298.997 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:39.397Z,1628815299.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,01242,186,80,80,1E,FF
2021-08-13T00:41:39.397Z,1628815299.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:39.397Z,1628815299.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:39.399Z,1628815299.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:39.812Z,1628815299.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:40.633Z,1628815300.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,01270,187,80,80,67,FF
2021-08-13T00:41:40.633Z,1628815300.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:40.636Z,1628815300.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004140.92*54

2021-08-13T00:41:41.060Z,1628815301.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.699997 m, bearing: 152.200042 deg, deltaT: 4.762133 s, approachRate: 0.579574 m/s, LOS rate: 10.782344 deg/s, posRepo size: 4
2021-08-13T00:41:41.062Z,1628815301.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.699997 m,
      bearing: 152.200042 deg,
      approachRate: 0.579574 m/s,
      LOS rate: 10.782344 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 127.597100 deg,
      new cmd heading: 132.103136 deg.

2021-08-13T00:41:43.454Z,1628815303.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:43.850Z,1628815303.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:43.850Z,1628815303.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:43.850Z,1628815303.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:43.851Z,1628815303.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:44.253Z,1628815304.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,01270,187,80,80,67,FF
2021-08-13T00:41:44.253Z,1628815304.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:44.253Z,1628815304.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:44.255Z,1628815304.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:44.657Z,1628815304.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:45.473Z,1628815305.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,012A2,189,80,80,82,FF
2021-08-13T00:41:45.473Z,1628815305.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:45.476Z,1628815305.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004145.78*55

2021-08-13T00:41:45.937Z,1628815305.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.699982 m, bearing: 67.377043 deg, deltaT: 4.817700 s, approachRate: 0.622701 m/s, LOS rate: -17.606534 deg/s, posRepo size: 4
2021-08-13T00:41:45.938Z,1628815305.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.606534 deg/s. Setting heading cmd to target bearing of 67.377043deg and heading rate command to 0 deg/s.
2021-08-13T00:41:48.311Z,1628815308.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:48.693Z,1628815308.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:48.693Z,1628815308.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:48.694Z,1628815308.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:48.695Z,1628815308.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:49.101Z,1628815309.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,012A2,189,80,80,82,FF
2021-08-13T00:41:49.101Z,1628815309.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:49.101Z,1628815309.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:49.103Z,1628815309.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:49.587Z,1628815309.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:50.385Z,1628815310.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,012D0,189,80,80,A9,FF
2021-08-13T00:41:50.385Z,1628815310.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:50.388Z,1628815310.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004150.63*5B

2021-08-13T00:41:50.877Z,1628815310.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.460007 m, bearing: 63.203777 deg, deltaT: 4.901586 s, approachRate: 0.563088 m/s, LOS rate: -0.851411 deg/s, posRepo size: 4
2021-08-13T00:41:50.906Z,1628815310.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.460007 m,
      bearing: 63.203777 deg,
      approachRate: 0.563088 m/s,
      LOS rate: -0.851411 deg/s,
      cmd update: -2.554234 deg/s,
      cmd heading: 67.377043 deg,
      new cmd heading: 67.377043 deg.

2021-08-13T00:41:53.261Z,1628815313.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:53.613Z,1628815313.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:53.613Z,1628815313.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:53.613Z,1628815313.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:53.614Z,1628815313.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:54.017Z,1628815314.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,012D0,189,80,80,A9,FF
2021-08-13T00:41:54.017Z,1628815314.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:54.017Z,1628815314.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:54.019Z,1628815314.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:54.475Z,1628815314.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:41:55.267Z,1628815315.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,012EC,188,80,80,B8,FF
2021-08-13T00:41:55.268Z,1628815315.268 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:41:55.271Z,1628815315.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004155.54*5A

2021-08-13T00:41:55.700Z,1628815315.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.139984 m, bearing: 48.111822 deg, deltaT: 4.902824 s, approachRate: 0.342655 m/s, LOS rate: -3.078217 deg/s, posRepo size: 4
2021-08-13T00:41:55.702Z,1628815315.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.139984 m,
      bearing: 48.111822 deg,
      approachRate: 0.342655 m/s,
      LOS rate: -3.078217 deg/s,
      cmd update: -9.234651 deg/s,
      cmd heading: 54.905346 deg,
      new cmd heading: 53.851175 deg.

2021-08-13T00:41:58.174Z,1628815318.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:41:58.503Z,1628815318.503 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:41:58.503Z,1628815318.503 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:41:58.503Z,1628815318.503 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:41:58.504Z,1628815318.504 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:41:58.909Z,1628815318.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,012EC,188,80,80,B8,FF
2021-08-13T00:41:58.909Z,1628815318.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:41:58.909Z,1628815318.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:41:58.911Z,1628815318.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:41:59.314Z,1628815319.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:00.138Z,1628815320.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004200.44*58

2021-08-13T00:42:01.009Z,1628815321.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:02.533Z,1628815322.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,B8,FF
2021-08-13T00:42:02.534Z,1628815322.534 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,B8,FF
2021-08-13T00:42:02.534Z,1628815322.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:42:03.775Z,1628815323.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:04.149Z,1628815324.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:04.149Z,1628815324.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:04.149Z,1628815324.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:04.150Z,1628815324.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:04.563Z,1628815324.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,B8,FF
2021-08-13T00:42:04.563Z,1628815324.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:04.563Z,1628815324.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:04.565Z,1628815324.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:04.975Z,1628815324.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:05.805Z,1628815325.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,012FA,189,80,80,B6,FF
2021-08-13T00:42:05.806Z,1628815325.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:05.809Z,1628815325.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004206.09*57

2021-08-13T00:42:06.263Z,1628815326.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.979980 m, bearing: 335.678745 deg, deltaT: 10.517287 s, approachRate: 0.079868 m/s, LOS rate: -6.887050 deg/s, posRepo size: 4
2021-08-13T00:42:06.265Z,1628815326.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.979980 m,
      bearing: 335.678745 deg,
      approachRate: 0.079868 m/s,
      LOS rate: -6.887050 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.601772 deg,
      new cmd heading: 313.544399 deg.

2021-08-13T00:42:08.617Z,1628815328.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:09.015Z,1628815329.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:09.015Z,1628815329.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:09.015Z,1628815329.015 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:09.016Z,1628815329.016 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:09.409Z,1628815329.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,012FA,189,80,80,B6,FF
2021-08-13T00:42:09.409Z,1628815329.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:09.409Z,1628815329.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:09.411Z,1628815329.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:09.812Z,1628815329.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:10.633Z,1628815330.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BD,000,012E4,189,80,80,A3,FF
2021-08-13T00:42:10.634Z,1628815330.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:10.637Z,1628815330.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004210.94*54

2021-08-13T00:42:11.066Z,1628815331.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.660004 m, bearing: 321.080636 deg, deltaT: 4.827889 s, approachRate: -0.273407 m/s, LOS rate: -3.023704 deg/s, posRepo size: 4
2021-08-13T00:42:11.069Z,1628815331.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.660004 m,
      bearing: 321.080636 deg,
      approachRate: -0.273407 m/s,
      LOS rate: -3.023704 deg/s,
      cmd update: -9.071113 deg/s,
      cmd heading: 259.661523 deg,
      new cmd heading: 254.687223 deg.

2021-08-13T00:42:13.484Z,1628815333.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:13.854Z,1628815333.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:13.854Z,1628815333.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:13.855Z,1628815333.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:13.856Z,1628815333.856 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:14.253Z,1628815334.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BD,000,012E4,189,80,80,A3,FF
2021-08-13T00:42:14.253Z,1628815334.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:14.253Z,1628815334.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:14.255Z,1628815334.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:14.660Z,1628815334.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:15.487Z,1628815335.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,012C4,189,80,80,A8,FF
2021-08-13T00:42:15.487Z,1628815335.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:15.490Z,1628815335.490 [Micromodem](INFO): Nmea in: $SNTTA,0.172264,,,,004215.78*49

2021-08-13T00:42:16.003Z,1628815336.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.739990 m, bearing: 327.070056 deg, deltaT: 4.879716 s, approachRate: -0.393468 m/s, LOS rate: 1.227412 deg/s, posRepo size: 4
2021-08-13T00:42:16.009Z,1628815336.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.739990 m,
      bearing: 327.070056 deg,
      approachRate: -0.393468 m/s,
      LOS rate: 1.227412 deg/s,
      cmd update: 3.682235 deg/s,
      cmd heading: 215.579888 deg,
      new cmd heading: 211.126117 deg.

2021-08-13T00:42:18.049Z,1628815338.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:18.293Z,1628815338.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:18.293Z,1628815338.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:18.293Z,1628815338.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:18.294Z,1628815338.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:18.697Z,1628815338.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
309,000,012C4,189,80,80,A8,FF
2021-08-13T00:42:18.697Z,1628815338.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:18.697Z,1628815338.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:18.699Z,1628815338.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:19.104Z,1628815339.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:19.973Z,1628815339.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,01299,186,80,80,AB,FF
2021-08-13T00:42:19.973Z,1628815339.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:19.976Z,1628815339.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004220.22*5A

2021-08-13T00:42:20.350Z,1628815340.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.159988 m, bearing: 327.279415 deg, deltaT: 4.533927 s, approachRate: -0.569044 m/s, LOS rate: 0.046176 deg/s, posRepo size: 4
2021-08-13T00:42:20.352Z,1628815340.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.159988 m,
      bearing: 327.279415 deg,
      approachRate: -0.569044 m/s,
      LOS rate: 0.046176 deg/s,
      cmd update: 0.138528 deg/s,
      cmd heading: 232.334674 deg,
      new cmd heading: 233.395360 deg.

2021-08-13T00:42:22.759Z,1628815342.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:23.141Z,1628815343.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:23.141Z,1628815343.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:23.142Z,1628815343.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:23.143Z,1628815343.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:23.545Z,1628815343.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,01299,186,80,80,AB,FF
2021-08-13T00:42:23.545Z,1628815343.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:23.545Z,1628815343.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:23.547Z,1628815343.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:23.973Z,1628815343.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:24.773Z,1628815344.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,01268,184,80,80,A5,FF
2021-08-13T00:42:24.774Z,1628815344.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:24.795Z,1628815344.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004225.07*58

2021-08-13T00:42:25.223Z,1628815345.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.220001 m, bearing: 329.051303 deg, deltaT: 4.777373 s, approachRate: -0.615398 m/s, LOS rate: 0.370892 deg/s, posRepo size: 4
2021-08-13T00:42:25.226Z,1628815345.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.220001 m,
      bearing: 329.051303 deg,
      approachRate: -0.615398 m/s,
      LOS rate: 0.370892 deg/s,
      cmd update: 1.112675 deg/s,
      cmd heading: 232.994795 deg,
      new cmd heading: 233.049270 deg.

2021-08-13T00:42:27.647Z,1628815347.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:28.001Z,1628815348.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:28.001Z,1628815348.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:28.001Z,1628815348.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:28.002Z,1628815348.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:28.409Z,1628815348.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,01268,184,80,80,A5,FF
2021-08-13T00:42:28.409Z,1628815348.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:28.409Z,1628815348.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:28.411Z,1628815348.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:28.821Z,1628815348.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:29.637Z,1628815349.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,0123B,186,80,80,A3,FF
2021-08-13T00:42:29.637Z,1628815349.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:29.642Z,1628815349.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004229.94*5E

2021-08-13T00:42:30.091Z,1628815350.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.520004 m, bearing: 329.371092 deg, deltaT: 4.846230 s, approachRate: -0.557133 m/s, LOS rate: 0.065987 deg/s, posRepo size: 4
2021-08-13T00:42:30.094Z,1628815350.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.520004 m,
      bearing: 329.371092 deg,
      approachRate: -0.557133 m/s,
      LOS rate: 0.065987 deg/s,
      cmd update: 0.197962 deg/s,
      cmd heading: 238.404853 deg,
      new cmd heading: 238.852474 deg.

2021-08-13T00:42:32.477Z,1628815352.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:32.858Z,1628815352.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:32.858Z,1628815352.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:32.858Z,1628815352.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:32.859Z,1628815352.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:33.272Z,1628815353.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,0123B,186,80,80,A3,FF
2021-08-13T00:42:33.273Z,1628815353.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:33.273Z,1628815353.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:33.275Z,1628815353.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:33.669Z,1628815353.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:34.489Z,1628815354.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C30,000,01209,189,80,80,7A,FF
2021-08-13T00:42:34.489Z,1628815354.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:34.494Z,1628815354.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004234.80*57

2021-08-13T00:42:34.974Z,1628815354.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.519989 m, bearing: 333.973000 deg, deltaT: 4.820906 s, approachRate: -0.622293 m/s, LOS rate: 0.954573 deg/s, posRepo size: 4
2021-08-13T00:42:34.984Z,1628815354.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.519989 m,
      bearing: 333.973000 deg,
      approachRate: -0.622293 m/s,
      LOS rate: 0.954573 deg/s,
      cmd update: 2.863720 deg/s,
      cmd heading: 239.359202 deg,
      new cmd heading: 239.451032 deg.

2021-08-13T00:42:37.329Z,1628815357.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:37.697Z,1628815357.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:37.697Z,1628815357.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:37.697Z,1628815357.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:37.698Z,1628815357.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:38.106Z,1628815358.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C30,000,01209,189,80,80,7A,FF
2021-08-13T00:42:38.106Z,1628815358.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:38.106Z,1628815358.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:38.109Z,1628815358.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:38.509Z,1628815358.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:39.337Z,1628815359.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B61,000,011EE,189,80,80,8E,FF
2021-08-13T00:42:39.337Z,1628815359.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:39.342Z,1628815359.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004239.63*57

2021-08-13T00:42:39.767Z,1628815359.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.899979 m, bearing: 323.887215 deg, deltaT: 4.848520 s, approachRate: -0.334125 m/s, LOS rate: -2.080178 deg/s, posRepo size: 4
2021-08-13T00:42:39.769Z,1628815359.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.899979 m,
      bearing: 323.887215 deg,
      approachRate: -0.334125 m/s,
      LOS rate: -2.080178 deg/s,
      cmd update: -6.240534 deg/s,
      cmd heading: 253.244264 deg,
      new cmd heading: 254.413641 deg.

2021-08-13T00:42:42.241Z,1628815362.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:42.549Z,1628815362.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:42.549Z,1628815362.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:42.549Z,1628815362.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:42.550Z,1628815362.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:42.958Z,1628815362.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B61,000,011EE,189,80,80,8E,FF
2021-08-13T00:42:42.959Z,1628815362.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:42.959Z,1628815362.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:42.962Z,1628815362.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:43.357Z,1628815363.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:44.177Z,1628815364.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,011DD,189,80,80,B2,FF
2021-08-13T00:42:44.177Z,1628815364.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:44.180Z,1628815364.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004244.49*55

2021-08-13T00:42:44.616Z,1628815364.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.879990 m, bearing: 318.754000 deg, deltaT: 4.917516 s, approachRate: -0.207420 m/s, LOS rate: -1.043863 deg/s, posRepo size: 4
2021-08-13T00:42:44.619Z,1628815364.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.879990 m,
      bearing: 318.754000 deg,
      approachRate: -0.207420 m/s,
      LOS rate: -1.043863 deg/s,
      cmd update: -3.131590 deg/s,
      cmd heading: 222.581024 deg,
      new cmd heading: 220.444901 deg.

2021-08-13T00:42:47.079Z,1628815367.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:47.409Z,1628815367.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:47.409Z,1628815367.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:47.409Z,1628815367.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:47.410Z,1628815367.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:47.825Z,1628815367.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,011DD,189,80,80,B2,FF
2021-08-13T00:42:47.825Z,1628815367.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:47.825Z,1628815367.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:47.827Z,1628815367.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:48.225Z,1628815368.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:48.275Z,1628815368.275 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:42:49.045Z,1628815369.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,011D4,188,80,80,A5,FF
2021-08-13T00:42:49.045Z,1628815369.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:49.050Z,1628815369.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004249.36*50

2021-08-13T00:42:49.474Z,1628815369.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.339981 m, bearing: 203.814621 deg, deltaT: 4.847317 s, approachRate: -0.111404 m/s, LOS rate: -23.711958 deg/s, posRepo size: 4
2021-08-13T00:42:49.475Z,1628815369.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.711958 deg/s. Setting heading cmd to target bearing of 203.814621deg and heading rate command to 0 deg/s.
2021-08-13T00:42:51.978Z,1628815371.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:52.257Z,1628815372.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:52.257Z,1628815372.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:52.257Z,1628815372.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:52.258Z,1628815372.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:52.665Z,1628815372.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,011D4,188,80,80,A5,FF
2021-08-13T00:42:52.665Z,1628815372.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:52.665Z,1628815372.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:52.667Z,1628815372.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:53.069Z,1628815373.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:53.929Z,1628815373.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,011E0,189,80,80,76,FF
2021-08-13T00:42:53.930Z,1628815373.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:53.933Z,1628815373.933 [Micromodem](INFO): Nmea in: $SNTTA,0.160400,,,,004254.19*4C

2021-08-13T00:42:54.314Z,1628815374.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.059982 m, bearing: 264.325507 deg, deltaT: 4.891352 s, approachRate: 0.147199 m/s, LOS rate: 12.370994 deg/s, posRepo size: 4
2021-08-13T00:42:54.315Z,1628815374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.370994 deg/s. Setting heading cmd to target bearing of 264.325507deg and heading rate command to 0 deg/s.
2021-08-13T00:42:56.731Z,1628815376.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:42:57.109Z,1628815377.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:42:57.109Z,1628815377.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:42:57.109Z,1628815377.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:42:57.110Z,1628815377.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:42:57.509Z,1628815377.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,011E0,189,80,80,76,FF
2021-08-13T00:42:57.509Z,1628815377.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:42:57.509Z,1628815377.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:42:57.511Z,1628815377.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:42:57.961Z,1628815377.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:42:58.753Z,1628815378.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBA,000,01205,189,80,80,79,FF
2021-08-13T00:42:58.753Z,1628815378.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:42:58.758Z,1628815378.758 [Micromodem](INFO): Nmea in: $SNTTA,0.161695,,,,004259.04*42

2021-08-13T00:42:59.172Z,1628815379.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.279999 m, bearing: 269.096230 deg, deltaT: 4.800036 s, approachRate: 0.462500 m/s, LOS rate: 0.993893 deg/s, posRepo size: 4
2021-08-13T00:42:59.174Z,1628815379.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.279999 m,
      bearing: 269.096230 deg,
      approachRate: 0.462500 m/s,
      LOS rate: 0.993893 deg/s,
      cmd update: 2.981679 deg/s,
      cmd heading: 264.325507 deg,
      new cmd heading: 264.325507 deg.

2021-08-13T00:43:01.567Z,1628815381.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:01.965Z,1628815381.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:01.965Z,1628815381.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:01.965Z,1628815381.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:01.966Z,1628815381.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:02.354Z,1628815382.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBA,000,01205,189,80,80,79,FF
2021-08-13T00:43:02.354Z,1628815382.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:02.354Z,1628815382.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:02.356Z,1628815382.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:02.776Z,1628815382.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:03.593Z,1628815383.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,0120E,187,80,80,73,FF
2021-08-13T00:43:03.594Z,1628815383.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:03.622Z,1628815383.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004303.88*5A

2021-08-13T00:43:04.046Z,1628815384.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.819992 m, bearing: 205.047880 deg, deltaT: 4.822992 s, approachRate: 0.111962 m/s, LOS rate: -13.279796 deg/s, posRepo size: 4
2021-08-13T00:43:04.047Z,1628815384.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.279796 deg/s. Setting heading cmd to target bearing of 205.047880deg and heading rate command to 0 deg/s.
2021-08-13T00:43:06.428Z,1628815386.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:06.797Z,1628815386.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:06.797Z,1628815386.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:06.797Z,1628815386.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:06.798Z,1628815386.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:07.217Z,1628815387.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,0120E,187,80,80,73,FF
2021-08-13T00:43:07.217Z,1628815387.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:07.217Z,1628815387.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:07.219Z,1628815387.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:07.617Z,1628815387.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:08.441Z,1628815388.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF1,000,01210,188,80,80,9C,FF
2021-08-13T00:43:08.441Z,1628815388.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:08.445Z,1628815388.445 [Micromodem](INFO): Nmea in: $SNTTA,0.162420,,,,004308.74*4F

2021-08-13T00:43:08.911Z,1628815388.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.939987 m, bearing: 292.276034 deg, deltaT: 4.842046 s, approachRate: 0.024782 m/s, LOS rate: 18.014732 deg/s, posRepo size: 4
2021-08-13T00:43:08.916Z,1628815388.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.014732 deg/s. Setting heading cmd to target bearing of 292.276034deg and heading rate command to 0 deg/s.
2021-08-13T00:43:11.270Z,1628815391.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:11.649Z,1628815391.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:11.649Z,1628815391.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:11.649Z,1628815391.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:11.650Z,1628815391.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:12.065Z,1628815392.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF1,000,01210,188,80,80,9C,FF
2021-08-13T00:43:12.065Z,1628815392.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:12.065Z,1628815392.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:12.067Z,1628815392.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:12.471Z,1628815392.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:13.296Z,1628815393.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0120C,189,80,80,7D,FF
2021-08-13T00:43:13.297Z,1628815393.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:13.299Z,1628815393.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004313.59*57

2021-08-13T00:43:13.700Z,1628815393.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.699997 m, bearing: 321.745623 deg, deltaT: 4.835193 s, approachRate: -0.049634 m/s, LOS rate: 6.094811 deg/s, posRepo size: 4
2021-08-13T00:43:13.702Z,1628815393.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.699997 m,
      bearing: 321.745623 deg,
      approachRate: -0.049634 m/s,
      LOS rate: 6.094811 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.276034 deg,
      new cmd heading: 292.276034 deg.

2021-08-13T00:43:16.103Z,1628815396.103 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:43:16.118Z,1628815396.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:16.497Z,1628815396.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:16.497Z,1628815396.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:16.497Z,1628815396.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:16.498Z,1628815396.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:16.933Z,1628815396.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0120C,189,80,80,7D,FF
2021-08-13T00:43:16.933Z,1628815396.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:16.933Z,1628815396.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:16.935Z,1628815396.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:17.319Z,1628815397.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:18.123Z,1628815398.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01209,189,80,80,81,FF
2021-08-13T00:43:18.125Z,1628815398.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:18.132Z,1628815398.132 [Micromodem](INFO): Nmea in: $SNTTA,0.161625,,,,004318.46*4B

2021-08-13T00:43:18.548Z,1628815398.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.519989 m, bearing: 316.110526 deg, deltaT: 4.925007 s, approachRate: -0.036550 m/s, LOS rate: -1.144181 deg/s, posRepo size: 4
2021-08-13T00:43:18.550Z,1628815398.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.519989 m,
      bearing: 316.110526 deg,
      approachRate: -0.036550 m/s,
      LOS rate: -1.144181 deg/s,
      cmd update: -3.432542 deg/s,
      cmd heading: 351.338116 deg,
      new cmd heading: 355.066180 deg.

2021-08-13T00:43:20.986Z,1628815400.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:21.345Z,1628815401.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:21.345Z,1628815401.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:21.345Z,1628815401.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:21.346Z,1628815401.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:21.754Z,1628815401.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01209,189,80,80,81,FF
2021-08-13T00:43:21.754Z,1628815401.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:21.754Z,1628815401.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:21.756Z,1628815401.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:22.153Z,1628815402.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:22.986Z,1628815402.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004323.28*52

2021-08-13T00:43:23.787Z,1628815403.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:25.385Z,1628815405.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,81,FF
2021-08-13T00:43:25.385Z,1628815405.385 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,81,FF
2021-08-13T00:43:25.385Z,1628815405.385 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:43:26.203Z,1628815406.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:43:26.209Z,1628815406.209 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:43:26.618Z,1628815406.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:27.006Z,1628815407.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:27.007Z,1628815407.007 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:27.007Z,1628815407.007 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:27.008Z,1628815407.008 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:27.405Z,1628815407.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,81,FF
2021-08-13T00:43:27.405Z,1628815407.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:27.405Z,1628815407.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:27.407Z,1628815407.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:27.812Z,1628815407.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:28.222Z,1628815408.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D34,000,00C1E,189,80,80,9B,FF
2021-08-13T00:43:28.222Z,1628815408.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:28.649Z,1628815408.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004328.93*59

2021-08-13T00:43:28.680Z,1628815408.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.620010 m, bearing: 332.741408 deg, deltaT: 10.087171 s, approachRate: -9.011444 m/s, LOS rate: 1.648716 deg/s, posRepo size: 4
2021-08-13T00:43:28.682Z,1628815408.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.620010 m,
      bearing: 332.741408 deg,
      approachRate: -9.011444 m/s,
      LOS rate: 1.648716 deg/s,
      cmd update: 4.946149 deg/s,
      cmd heading: 316.716544 deg,
      new cmd heading: 315.492514 deg.

2021-08-13T00:43:31.056Z,1628815411.056 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:43:31.071Z,1628815411.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:31.449Z,1628815411.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:31.449Z,1628815411.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:31.449Z,1628815411.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:31.450Z,1628815411.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:31.879Z,1628815411.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D34,000,00C1E,189,80,80,9B,FF
2021-08-13T00:43:31.880Z,1628815411.880 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:31.881Z,1628815411.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:31.889Z,1628815411.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:32.365Z,1628815412.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:33.159Z,1628815413.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,011B3,187,80,80,AE,FF
2021-08-13T00:43:33.159Z,1628815413.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:33.162Z,1628815413.162 [Micromodem](INFO): Nmea in: $SNTTA,0.158757,,,,004333.42*48

2021-08-13T00:43:33.621Z,1628815413.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.360001 m, bearing: 344.155692 deg, deltaT: 4.886043 s, approachRate: 17.547939 m/s, LOS rate: 2.336100 deg/s, posRepo size: 4
2021-08-13T00:43:33.623Z,1628815413.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.360001 m,
      bearing: 344.155692 deg,
      approachRate: 17.547939 m/s,
      LOS rate: 2.336100 deg/s,
      cmd update: 7.008300 deg/s,
      cmd heading: 340.880978 deg,
      new cmd heading: 342.918356 deg.

2021-08-13T00:43:36.007Z,1628815416.007 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:43:36.030Z,1628815416.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:36.391Z,1628815416.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:36.391Z,1628815416.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:36.391Z,1628815416.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:36.392Z,1628815416.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:36.795Z,1628815416.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,011B3,187,80,80,AE,FF
2021-08-13T00:43:36.795Z,1628815416.795 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:36.795Z,1628815416.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:36.797Z,1628815416.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:37.202Z,1628815417.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:38.029Z,1628815418.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,01185,185,80,80,BB,FF
2021-08-13T00:43:38.030Z,1628815418.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:38.033Z,1628815418.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004338.32*53

2021-08-13T00:43:38.447Z,1628815418.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.599991 m, bearing: 340.066458 deg, deltaT: 4.914250 s, approachRate: -0.561634 m/s, LOS rate: -0.832118 deg/s, posRepo size: 4
2021-08-13T00:43:38.450Z,1628815418.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.599991 m,
      bearing: 340.066458 deg,
      approachRate: -0.561634 m/s,
      LOS rate: -0.832118 deg/s,
      cmd update: -2.496353 deg/s,
      cmd heading: 15.326583 deg,
      new cmd heading: 17.596459 deg.

2021-08-13T00:43:40.917Z,1628815420.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:41.248Z,1628815421.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:41.248Z,1628815421.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:41.248Z,1628815421.248 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:41.249Z,1628815421.249 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:41.264Z,1628815421.264 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:43:41.637Z,1628815421.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,01185,185,80,80,BB,FF
2021-08-13T00:43:41.637Z,1628815421.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:41.638Z,1628815421.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:41.639Z,1628815421.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:42.050Z,1628815422.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:42.871Z,1628815422.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,01157,188,80,80,9B,FF
2021-08-13T00:43:42.871Z,1628815422.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:42.876Z,1628815422.876 [Micromodem](INFO): Nmea in: $SNTTA,0.155284,,,,004343.17*49

2021-08-13T00:43:43.310Z,1628815423.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.839996 m, bearing: 334.715661 deg, deltaT: 4.764027 s, approachRate: -0.579341 m/s, LOS rate: -1.123167 deg/s, posRepo size: 4
2021-08-13T00:43:43.312Z,1628815423.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.839996 m,
      bearing: 334.715661 deg,
      approachRate: -0.579341 m/s,
      LOS rate: -1.123167 deg/s,
      cmd update: -3.369501 deg/s,
      cmd heading: 3.423767 deg,
      new cmd heading: 2.378781 deg.

2021-08-13T00:43:45.730Z,1628815425.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:46.090Z,1628815426.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:46.090Z,1628815426.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:46.090Z,1628815426.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:46.091Z,1628815426.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:46.107Z,1628815426.107 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:43:46.512Z,1628815426.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,01157,188,80,80,9B,FF
2021-08-13T00:43:46.512Z,1628815426.512 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:46.512Z,1628815426.512 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:46.514Z,1628815426.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:46.940Z,1628815426.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:47.327Z,1628815427.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36C,000,00920,189,80,80,AD,FF
2021-08-13T00:43:47.327Z,1628815427.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:47.737Z,1628815427.737 [Micromodem](INFO): Nmea in: $SNTTA,0.070940,,,,004348.04*45

2021-08-13T00:43:47.759Z,1628815427.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.660011 m, bearing: 329.099442 deg, deltaT: 4.472621 s, approachRate: -28.211643 m/s, LOS rate: -1.255688 deg/s, posRepo size: 4
2021-08-13T00:43:47.782Z,1628815427.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.660011 m,
      bearing: 329.099442 deg,
      approachRate: -28.211643 m/s,
      LOS rate: -1.255688 deg/s,
      cmd update: -3.767065 deg/s,
      cmd heading: 348.355263 deg,
      new cmd heading: 347.022029 deg.

2021-08-13T00:43:50.217Z,1628815430.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:50.549Z,1628815430.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:50.549Z,1628815430.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:50.549Z,1628815430.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:50.550Z,1628815430.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:50.957Z,1628815430.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36C,000,00920,189,80,80,AD,FF
2021-08-13T00:43:50.957Z,1628815430.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:50.957Z,1628815430.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:50.959Z,1628815430.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:51.005Z,1628815431.005 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:43:51.374Z,1628815431.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:52.180Z,1628815432.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004352.48*52

2021-08-13T00:43:53.015Z,1628815433.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:54.581Z,1628815434.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,AD,FF
2021-08-13T00:43:54.582Z,1628815434.582 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,AD,FF
2021-08-13T00:43:54.582Z,1628815434.582 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:43:55.831Z,1628815435.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:43:56.261Z,1628815436.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:43:56.261Z,1628815436.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:43:56.261Z,1628815436.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:43:56.262Z,1628815436.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:43:56.321Z,1628815436.321 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:43:56.606Z,1628815436.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,AD,FF
2021-08-13T00:43:56.606Z,1628815436.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:43:56.606Z,1628815436.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:43:56.608Z,1628815436.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:43:57.007Z,1628815437.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:43:57.830Z,1628815437.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,010D4,183,80,80,A7,FF
2021-08-13T00:43:57.830Z,1628815437.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:43:57.835Z,1628815437.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004358.14*51

2021-08-13T00:43:58.281Z,1628815438.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.979980 m, bearing: 338.058328 deg, deltaT: 10.582775 s, approachRate: 11.180429 m/s, LOS rate: 0.846554 deg/s, posRepo size: 4
2021-08-13T00:43:58.283Z,1628815438.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.979980 m,
      bearing: 338.058328 deg,
      approachRate: 11.180429 m/s,
      LOS rate: 0.846554 deg/s,
      cmd update: 2.539661 deg/s,
      cmd heading: 308.502842 deg,
      new cmd heading: 307.228809 deg.

2021-08-13T00:44:00.664Z,1628815440.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:01.050Z,1628815441.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:01.050Z,1628815441.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:01.051Z,1628815441.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:01.052Z,1628815441.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:01.132Z,1628815441.132 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T00:44:01.132Z,1628815441.132 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T00:44:01.132Z,1628815441.132 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T00:44:01.284Z,1628815441.284 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T00:44:01.449Z,1628815441.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,010D4,183,80,80,A7,FF
2021-08-13T00:44:01.449Z,1628815441.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:01.449Z,1628815441.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:01.451Z,1628815441.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:01.533Z,1628815441.533 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T00:44:01.854Z,1628815441.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:02.412Z,1628815442.412 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T00:44:02.412Z,1628815442.412 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T00:44:02.673Z,1628815442.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,010A2,186,80,80,96,FF
2021-08-13T00:44:02.673Z,1628815442.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:02.678Z,1628815442.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004402.98*5D

2021-08-13T00:44:03.097Z,1628815443.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.979996 m, bearing: 337.585488 deg, deltaT: 4.795010 s, approachRate: -0.625647 m/s, LOS rate: -0.098611 deg/s, posRepo size: 4
2021-08-13T00:44:03.099Z,1628815443.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.979996 m,
      bearing: 337.585488 deg,
      approachRate: -0.625647 m/s,
      LOS rate: -0.098611 deg/s,
      cmd update: -0.295833 deg/s,
      cmd heading: 320.599594 deg,
      new cmd heading: 321.591143 deg.

2021-08-13T00:44:05.530Z,1628815445.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:05.976Z,1628815445.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:05.976Z,1628815445.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:05.977Z,1628815445.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:05.978Z,1628815445.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:05.995Z,1628815445.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:44:06.301Z,1628815446.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,010A2,186,80,80,96,FF
2021-08-13T00:44:06.301Z,1628815446.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:06.301Z,1628815446.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:06.303Z,1628815446.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:06.350Z,1628815446.350 [CTD_Seabird](ERROR): Failed to parse device response: 5.78,23.823.01
2021-08-13T00:44:06.719Z,1628815446.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:07.533Z,1628815447.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E98,000,01075,187,80,80,94,FF
2021-08-13T00:44:07.534Z,1628815447.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:07.536Z,1628815447.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004407.83*52

2021-08-13T00:44:08.015Z,1628815448.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.279999 m, bearing: 338.061743 deg, deltaT: 4.849028 s, approachRate: -0.556812 m/s, LOS rate: 0.098217 deg/s, posRepo size: 4
2021-08-13T00:44:08.017Z,1628815448.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.279999 m,
      bearing: 338.061743 deg,
      approachRate: -0.556812 m/s,
      LOS rate: 0.098217 deg/s,
      cmd update: 0.294650 deg/s,
      cmd heading: 319.158092 deg,
      new cmd heading: 319.028986 deg.

2021-08-13T00:44:10.360Z,1628815450.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:10.750Z,1628815450.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:10.750Z,1628815450.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:10.750Z,1628815450.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:10.751Z,1628815450.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:11.145Z,1628815451.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E98,000,01075,187,80,80,94,FF
2021-08-13T00:44:11.145Z,1628815451.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:11.146Z,1628815451.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:11.147Z,1628815451.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:11.553Z,1628815451.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:11.973Z,1628815451.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00916,186,80,80,A8,FF
2021-08-13T00:44:11.973Z,1628815451.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:12.389Z,1628815452.389 [Micromodem](INFO): Nmea in: $SNTTA,0.070649,,,,004412.67*4E

2021-08-13T00:44:12.411Z,1628815452.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.059998 m, bearing: 336.559648 deg, deltaT: 4.443806 s, approachRate: -25.478161 m/s, LOS rate: -0.338020 deg/s, posRepo size: 4
2021-08-13T00:44:12.414Z,1628815452.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.059998 m,
      bearing: 336.559648 deg,
      approachRate: -25.478161 m/s,
      LOS rate: -0.338020 deg/s,
      cmd update: -1.014060 deg/s,
      cmd heading: 320.471010 deg,
      new cmd heading: 320.582065 deg.

2021-08-13T00:44:14.795Z,1628815454.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:15.189Z,1628815455.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:15.189Z,1628815455.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:15.189Z,1628815455.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:15.190Z,1628815455.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:15.585Z,1628815455.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00916,186,80,80,A8,FF
2021-08-13T00:44:15.585Z,1628815455.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:15.585Z,1628815455.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:15.587Z,1628815455.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:16.021Z,1628815456.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:16.051Z,1628815456.051 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:44:16.817Z,1628815456.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,01018,187,80,80,94,FF
2021-08-13T00:44:16.817Z,1628815456.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:17.241Z,1628815457.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.699997 m, bearing: 336.091889 deg, deltaT: 4.814171 s, approachRate: 22.358990 m/s, LOS rate: -0.097163 deg/s, posRepo size: 4
2021-08-13T00:44:17.243Z,1628815457.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.699997 m,
      bearing: 336.091889 deg,
      approachRate: 22.358990 m/s,
      LOS rate: -0.097163 deg/s,
      cmd update: -0.291489 deg/s,
      cmd heading: 315.591684 deg,
      new cmd heading: 315.191556 deg.

2021-08-13T00:44:19.651Z,1628815459.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:20.029Z,1628815460.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:20.029Z,1628815460.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:20.029Z,1628815460.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:20.030Z,1628815460.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:20.441Z,1628815460.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,01018,187,80,80,94,FF
2021-08-13T00:44:20.441Z,1628815460.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:20.441Z,1628815460.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:20.443Z,1628815460.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:20.866Z,1628815460.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:21.677Z,1628815461.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB4,000,00FE6,186,80,80,8E,FF
2021-08-13T00:44:21.677Z,1628815461.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:21.700Z,1628815461.700 [Micromodem](INFO): Nmea in: $SNTTA,0.140303,,,,004421.97*48

2021-08-13T00:44:22.125Z,1628815462.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.699997 m, bearing: 338.349212 deg, deltaT: 4.866249 s, approachRate: -0.616491 m/s, LOS rate: 0.463873 deg/s, posRepo size: 4
2021-08-13T00:44:22.127Z,1628815462.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.699997 m,
      bearing: 338.349212 deg,
      approachRate: -0.616491 m/s,
      LOS rate: 0.463873 deg/s,
      cmd update: 1.391620 deg/s,
      cmd heading: 314.172384 deg,
      new cmd heading: 314.053002 deg.

2021-08-13T00:44:24.489Z,1628815464.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:24.881Z,1628815464.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:24.881Z,1628815464.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:24.881Z,1628815464.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:24.882Z,1628815464.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:25.281Z,1628815465.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB4,000,00FE6,186,80,80,8E,FF
2021-08-13T00:44:25.281Z,1628815465.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:25.282Z,1628815465.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:25.283Z,1628815465.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:25.684Z,1628815465.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:26.525Z,1628815466.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,00FB3,186,80,80,8C,FF
2021-08-13T00:44:26.525Z,1628815466.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:26.529Z,1628815466.529 [Micromodem](INFO): Nmea in: $SNTTA,0.295409,,,,004426.81*4E

2021-08-13T00:44:26.947Z,1628815466.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.639984 m, bearing: 340.007199 deg, deltaT: 4.828528 s, approachRate: -0.633736 m/s, LOS rate: 0.343373 deg/s, posRepo size: 4
2021-08-13T00:44:26.949Z,1628815466.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.639984 m,
      bearing: 340.007199 deg,
      approachRate: -0.633736 m/s,
      LOS rate: 0.343373 deg/s,
      cmd update: 1.030120 deg/s,
      cmd heading: 320.891825 deg,
      new cmd heading: 321.452934 deg.

2021-08-13T00:44:29.339Z,1628815469.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:29.734Z,1628815469.734 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:29.735Z,1628815469.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:29.735Z,1628815469.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:29.736Z,1628815469.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:30.141Z,1628815470.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,00FB3,186,80,80,8C,FF
2021-08-13T00:44:30.141Z,1628815470.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:30.141Z,1628815470.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:30.143Z,1628815470.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:30.549Z,1628815470.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:31.365Z,1628815471.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00F84,187,80,80,AE,FF
2021-08-13T00:44:31.365Z,1628815471.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:31.368Z,1628815471.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004431.67*5D

2021-08-13T00:44:31.808Z,1628815471.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.819977 m, bearing: 340.048099 deg, deltaT: 4.839693 s, approachRate: -0.582683 m/s, LOS rate: 0.008451 deg/s, posRepo size: 4
2021-08-13T00:44:31.810Z,1628815471.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.819977 m,
      bearing: 340.048099 deg,
      approachRate: -0.582683 m/s,
      LOS rate: 0.008451 deg/s,
      cmd update: 0.025352 deg/s,
      cmd heading: 325.877210 deg,
      new cmd heading: 326.314528 deg.

2021-08-13T00:44:34.249Z,1628815474.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:34.573Z,1628815474.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:34.573Z,1628815474.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:34.573Z,1628815474.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:34.574Z,1628815474.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:34.977Z,1628815474.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00F84,187,80,80,AE,FF
2021-08-13T00:44:34.977Z,1628815474.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:34.977Z,1628815474.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:34.979Z,1628815474.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:35.436Z,1628815475.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:35.860Z,1628815475.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00F53,186,80,80,82,FF
2021-08-13T00:44:35.861Z,1628815475.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:36.249Z,1628815476.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004436.51*5F

2021-08-13T00:44:36.325Z,1628815476.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.879990 m, bearing: 340.407175 deg, deltaT: 4.593971 s, approachRate: -0.639966 m/s, LOS rate: 0.078163 deg/s, posRepo size: 4
2021-08-13T00:44:36.327Z,1628815476.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.879990 m,
      bearing: 340.407175 deg,
      approachRate: -0.639966 m/s,
      LOS rate: 0.078163 deg/s,
      cmd update: 0.234488 deg/s,
      cmd heading: 325.993579 deg,
      new cmd heading: 326.002374 deg.

2021-08-13T00:44:38.671Z,1628815478.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:39.057Z,1628815479.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:39.057Z,1628815479.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:39.058Z,1628815479.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:39.058Z,1628815479.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:39.457Z,1628815479.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00F53,186,80,80,82,FF
2021-08-13T00:44:39.457Z,1628815479.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:39.457Z,1628815479.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:39.459Z,1628815479.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:39.891Z,1628815479.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:40.693Z,1628815480.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00F23,186,80,80,9F,FF
2021-08-13T00:44:40.693Z,1628815480.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:40.696Z,1628815480.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004440.99*5A

2021-08-13T00:44:41.134Z,1628815481.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.000000 m, bearing: 338.065349 deg, deltaT: 4.734652 s, approachRate: -0.608279 m/s, LOS rate: -0.494614 deg/s, posRepo size: 4
2021-08-13T00:44:41.140Z,1628815481.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.000000 m,
      bearing: 338.065349 deg,
      approachRate: -0.608279 m/s,
      LOS rate: -0.494614 deg/s,
      cmd update: -1.483843 deg/s,
      cmd heading: 327.104730 deg,
      new cmd heading: 327.203621 deg.

2021-08-13T00:44:43.536Z,1628815483.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:43.949Z,1628815483.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:43.949Z,1628815483.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:43.949Z,1628815483.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:43.950Z,1628815483.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:44.309Z,1628815484.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00F23,186,80,80,9F,FF
2021-08-13T00:44:44.309Z,1628815484.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:44.309Z,1628815484.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:44.311Z,1628815484.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:44.721Z,1628815484.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:45.541Z,1628815485.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00EF2,187,80,80,A3,FF
2021-08-13T00:44:45.542Z,1628815485.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:45.545Z,1628815485.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004445.84*53

2021-08-13T00:44:46.038Z,1628815486.038 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:44:46.062Z,1628815486.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.059998 m, bearing: 340.450588 deg, deltaT: 4.868719 s, approachRate: -0.603855 m/s, LOS rate: 0.489911 deg/s, posRepo size: 4
2021-08-13T00:44:46.065Z,1628815486.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.059998 m,
      bearing: 340.450588 deg,
      approachRate: -0.603855 m/s,
      LOS rate: 0.489911 deg/s,
      cmd update: 1.469733 deg/s,
      cmd heading: 319.910564 deg,
      new cmd heading: 319.165903 deg.

2021-08-13T00:44:48.363Z,1628815488.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:48.757Z,1628815488.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:48.757Z,1628815488.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:48.757Z,1628815488.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:48.758Z,1628815488.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:49.157Z,1628815489.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00EF2,187,80,80,A3,FF
2021-08-13T00:44:49.157Z,1628815489.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:49.157Z,1628815489.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:49.159Z,1628815489.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:49.592Z,1628815489.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:49.985Z,1628815489.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00EF2,187,80,80,A3,FF
2021-08-13T00:44:49.986Z,1628815489.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:50.409Z,1628815490.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004450.68*55

2021-08-13T00:44:50.450Z,1628815490.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.059998 m, bearing: 342.320284 deg, deltaT: 4.510422 s, approachRate: 0.000000 m/s, LOS rate: 0.414528 deg/s, posRepo size: 4
2021-08-13T00:44:50.452Z,1628815490.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.059998 m,
      bearing: 342.320284 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.414528 deg/s,
      cmd update: 1.243584 deg/s,
      cmd heading: 326.563726 deg,
      new cmd heading: 327.096392 deg.

2021-08-13T00:44:52.855Z,1628815492.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:53.224Z,1628815493.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:53.224Z,1628815493.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:53.224Z,1628815493.224 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:53.225Z,1628815493.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:53.606Z,1628815493.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00EF2,187,80,80,A3,FF
2021-08-13T00:44:53.607Z,1628815493.607 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:53.607Z,1628815493.607 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:53.609Z,1628815493.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:54.037Z,1628815494.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:54.866Z,1628815494.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,00E94,187,80,80,A2,FF
2021-08-13T00:44:54.866Z,1628815494.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:54.871Z,1628815494.871 [Micromodem](INFO): Nmea in: $SNTTA,0.126812,,,,004455.14*4B

2021-08-13T00:44:55.278Z,1628815495.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 339.701671 deg, deltaT: 4.831347 s, approachRate: -1.167376 m/s, LOS rate: -0.542005 deg/s, posRepo size: 4
2021-08-13T00:44:55.280Z,1628815495.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 339.701671 deg,
      approachRate: -1.167376 m/s,
      LOS rate: -0.542005 deg/s,
      cmd update: -1.626014 deg/s,
      cmd heading: 332.547040 deg,
      new cmd heading: 333.018495 deg.

2021-08-13T00:44:56.071Z,1628815496.071 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:44:57.690Z,1628815497.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:44:58.065Z,1628815498.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:44:58.065Z,1628815498.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:44:58.065Z,1628815498.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:44:58.066Z,1628815498.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:44:58.461Z,1628815498.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,00E94,187,80,80,A2,FF
2021-08-13T00:44:58.461Z,1628815498.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:44:58.461Z,1628815498.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:44:58.463Z,1628815498.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:44:58.881Z,1628815498.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:44:59.269Z,1628815499.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8F,000,00E94,187,80,80,A2,FF
2021-08-13T00:44:59.270Z,1628815499.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:44:59.713Z,1628815499.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004459.99*52

2021-08-13T00:44:59.743Z,1628815499.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.419998 m, bearing: 342.769628 deg, deltaT: 4.369555 s, approachRate: 0.000000 m/s, LOS rate: 0.702121 deg/s, posRepo size: 4
2021-08-13T00:44:59.749Z,1628815499.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.419998 m,
      bearing: 342.769628 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.702121 deg/s,
      cmd update: 2.106363 deg/s,
      cmd heading: 325.404873 deg,
      new cmd heading: 324.669278 deg.

2021-08-13T00:45:02.162Z,1628815502.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:02.505Z,1628815502.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:02.505Z,1628815502.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:02.506Z,1628815502.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:02.507Z,1628815502.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:02.923Z,1628815502.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8F,000,00E94,187,80,80,A2,FF
2021-08-13T00:45:02.923Z,1628815502.923 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:02.924Z,1628815502.924 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:02.926Z,1628815502.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:03.316Z,1628815503.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:04.141Z,1628815504.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00E2F,186,80,80,93,FF
2021-08-13T00:45:04.141Z,1628815504.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:04.144Z,1628815504.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004504.45*5A

2021-08-13T00:45:04.577Z,1628815504.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.360001 m, bearing: 339.945427 deg, deltaT: 4.942568 s, approachRate: -1.226083 m/s, LOS rate: -0.571404 deg/s, posRepo size: 4
2021-08-13T00:45:04.579Z,1628815504.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 339.945427 deg,
      approachRate: -1.226083 m/s,
      LOS rate: -0.571404 deg/s,
      cmd update: -1.714211 deg/s,
      cmd heading: 335.797139 deg,
      new cmd heading: 336.540005 deg.

2021-08-13T00:45:07.015Z,1628815507.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:07.349Z,1628815507.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:07.349Z,1628815507.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:07.350Z,1628815507.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:07.350Z,1628815507.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:07.759Z,1628815507.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00E2F,186,80,80,93,FF
2021-08-13T00:45:07.760Z,1628815507.760 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:07.761Z,1628815507.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:07.768Z,1628815507.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:08.170Z,1628815508.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:08.985Z,1628815508.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:08.986Z,1628815508.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:08.988Z,1628815508.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004509.30*55

2021-08-13T00:45:09.427Z,1628815509.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 338.908304 deg, deltaT: 4.831323 s, approachRate: -0.683043 m/s, LOS rate: -0.214667 deg/s, posRepo size: 4
2021-08-13T00:45:09.441Z,1628815509.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 338.908304 deg,
      approachRate: -0.683043 m/s,
      LOS rate: -0.214667 deg/s,
      cmd update: -0.644000 deg/s,
      cmd heading: 327.504978 deg,
      new cmd heading: 326.880846 deg.

2021-08-13T00:45:11.933Z,1628815511.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:12.197Z,1628815512.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:12.197Z,1628815512.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:12.197Z,1628815512.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:12.198Z,1628815512.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:12.606Z,1628815512.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:12.606Z,1628815512.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:12.606Z,1628815512.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:12.608Z,1628815512.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:13.009Z,1628815513.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:13.414Z,1628815513.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:13.414Z,1628815513.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:13.877Z,1628815513.877 [Micromodem](INFO): Nmea in: $SNTTA,0.118240,,,,004514.13*48

2021-08-13T00:45:13.960Z,1628815513.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 341.205378 deg, deltaT: 4.408656 s, approachRate: 0.000000 m/s, LOS rate: 0.521037 deg/s, posRepo size: 4
2021-08-13T00:45:13.962Z,1628815513.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 341.205378 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.521037 deg/s,
      cmd update: 1.563112 deg/s,
      cmd heading: 324.685449 deg,
      new cmd heading: 324.353220 deg.

2021-08-13T00:45:15.986Z,1628815515.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:16.234Z,1628815516.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:16.234Z,1628815516.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:16.235Z,1628815516.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:16.236Z,1628815516.236 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:16.649Z,1628815516.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:16.649Z,1628815516.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:16.649Z,1628815516.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:16.651Z,1628815516.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:17.055Z,1628815517.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:17.449Z,1628815517.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:17.450Z,1628815517.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:17.921Z,1628815517.921 [Micromodem](INFO): Nmea in: $SNTTA,0.114245,,,,004518.18*46

2021-08-13T00:45:18.006Z,1628815518.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 339.442179 deg, deltaT: 4.035414 s, approachRate: 0.000000 m/s, LOS rate: -0.436932 deg/s, posRepo size: 4
2021-08-13T00:45:18.012Z,1628815518.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 339.442179 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.436932 deg/s,
      cmd update: -1.310795 deg/s,
      cmd heading: 331.034680 deg,
      new cmd heading: 331.822460 deg.

2021-08-13T00:45:20.021Z,1628815520.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:20.281Z,1628815520.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:20.281Z,1628815520.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:20.282Z,1628815520.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:20.283Z,1628815520.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:20.681Z,1628815520.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:20.681Z,1628815520.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:20.682Z,1628815520.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:20.683Z,1628815520.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:21.089Z,1628815521.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:21.490Z,1628815521.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:21.490Z,1628815521.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:21.953Z,1628815521.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004522.23*5E

2021-08-13T00:45:22.036Z,1628815522.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 343.021061 deg, deltaT: 4.037585 s, approachRate: 0.000000 m/s, LOS rate: 0.886392 deg/s, posRepo size: 4
2021-08-13T00:45:22.038Z,1628815522.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 343.021061 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.886392 deg/s,
      cmd update: 2.659176 deg/s,
      cmd heading: 325.736992 deg,
      new cmd heading: 325.097642 deg.

2021-08-13T00:45:24.347Z,1628815524.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:24.725Z,1628815524.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:24.725Z,1628815524.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:24.725Z,1628815524.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:24.726Z,1628815524.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:25.129Z,1628815525.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00DF8,185,80,80,A4,FF
2021-08-13T00:45:25.129Z,1628815525.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:25.129Z,1628815525.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:25.131Z,1628815525.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:25.542Z,1628815525.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:25.961Z,1628815525.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00A6B,187,80,80,A7,FF
2021-08-13T00:45:25.961Z,1628815525.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:26.366Z,1628815526.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004526.66*5B

2021-08-13T00:45:26.388Z,1628815526.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 339.440075 deg, deltaT: 4.508654 s, approachRate: -12.096737 m/s, LOS rate: -0.794247 deg/s, posRepo size: 4
2021-08-13T00:45:26.390Z,1628815526.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.519997 m,
      bearing: 339.440075 deg,
      approachRate: -12.096737 m/s,
      LOS rate: -0.794247 deg/s,
      cmd update: -2.382742 deg/s,
      cmd heading: 337.725733 deg,
      new cmd heading: 338.618203 deg.

2021-08-13T00:45:28.822Z,1628815528.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:29.169Z,1628815529.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:29.169Z,1628815529.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:29.169Z,1628815529.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:29.170Z,1628815529.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:29.578Z,1628815529.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00A6B,187,80,80,A7,FF
2021-08-13T00:45:29.578Z,1628815529.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:29.578Z,1628815529.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:29.580Z,1628815529.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:29.977Z,1628815529.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:30.377Z,1628815530.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00A6B,187,80,80,A7,FF
2021-08-13T00:45:30.378Z,1628815530.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:30.817Z,1628815530.817 [Micromodem](INFO): Nmea in: $SNTTA,0.111031,,,,004531.11*40

2021-08-13T00:45:30.858Z,1628815530.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 338.886666 deg, deltaT: 4.344267 s, approachRate: 0.000000 m/s, LOS rate: -0.127388 deg/s, posRepo size: 4
2021-08-13T00:45:30.861Z,1628815530.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.519997 m,
      bearing: 338.886666 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.127388 deg/s,
      cmd update: -0.382165 deg/s,
      cmd heading: 327.368169 deg,
      new cmd heading: 326.278310 deg.

2021-08-13T00:45:33.231Z,1628815533.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:33.609Z,1628815533.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:33.609Z,1628815533.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:33.609Z,1628815533.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:33.610Z,1628815533.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:34.025Z,1628815534.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00A6B,187,80,80,A7,FF
2021-08-13T00:45:34.025Z,1628815534.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:34.026Z,1628815534.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:34.027Z,1628815534.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:34.436Z,1628815534.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:34.866Z,1628815534.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00CE5,187,80,80,9A,FF
2021-08-13T00:45:34.866Z,1628815534.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:35.273Z,1628815535.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004535.55*59

2021-08-13T00:45:35.296Z,1628815535.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.559998 m, bearing: 341.814823 deg, deltaT: 4.522556 s, approachRate: 8.411173 m/s, LOS rate: 0.647456 deg/s, posRepo size: 4
2021-08-13T00:45:35.298Z,1628815535.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.559998 m,
      bearing: 341.814823 deg,
      approachRate: 8.411173 m/s,
      LOS rate: 0.647456 deg/s,
      cmd update: 1.942368 deg/s,
      cmd heading: 325.639247 deg,
      new cmd heading: 325.496898 deg.

2021-08-13T00:45:37.695Z,1628815537.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:38.065Z,1628815538.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:38.065Z,1628815538.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:38.065Z,1628815538.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:38.066Z,1628815538.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:38.465Z,1628815538.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00CE5,187,80,80,9A,FF
2021-08-13T00:45:38.465Z,1628815538.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:38.465Z,1628815538.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:38.467Z,1628815538.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:38.875Z,1628815538.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:39.270Z,1628815539.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00CB9,187,80,80,9A,FF
2021-08-13T00:45:39.270Z,1628815539.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:39.709Z,1628815539.709 [Micromodem](INFO): Nmea in: $SNTTA,0.105049,,,,004539.99*42

2021-08-13T00:45:39.745Z,1628815539.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.920013 m, bearing: 340.801851 deg, deltaT: 4.368579 s, approachRate: -0.604312 m/s, LOS rate: -0.231877 deg/s, posRepo size: 4
2021-08-13T00:45:39.746Z,1628815539.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.920013 m,
      bearing: 340.801851 deg,
      approachRate: -0.604312 m/s,
      LOS rate: -0.231877 deg/s,
      cmd update: -0.695630 deg/s,
      cmd heading: 334.124039 deg,
      new cmd heading: 335.003638 deg.

2021-08-13T00:45:42.181Z,1628815542.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:42.505Z,1628815542.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:42.505Z,1628815542.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:42.505Z,1628815542.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:42.506Z,1628815542.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:42.917Z,1628815542.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00CB9,187,80,80,9A,FF
2021-08-13T00:45:42.917Z,1628815542.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:42.917Z,1628815542.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:42.919Z,1628815542.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:43.325Z,1628815543.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:43.718Z,1628815543.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00C88,183,80,80,9A,FF
2021-08-13T00:45:43.718Z,1628815543.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:44.161Z,1628815544.161 [Micromodem](INFO): Nmea in: $SNTTA,0.129198,,,,004544.44*4B

2021-08-13T00:45:44.223Z,1628815544.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.979996 m, bearing: 340.841903 deg, deltaT: 4.447659 s, approachRate: -0.661026 m/s, LOS rate: 0.009005 deg/s, posRepo size: 4
2021-08-13T00:45:44.243Z,1628815544.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 340.841903 deg,
      approachRate: -0.661026 m/s,
      LOS rate: 0.009005 deg/s,
      cmd update: 0.027016 deg/s,
      cmd heading: 331.029852 deg,
      new cmd heading: 330.693395 deg.

2021-08-13T00:45:46.563Z,1628815546.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:46.958Z,1628815546.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:46.958Z,1628815546.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:46.958Z,1628815546.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:46.959Z,1628815546.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:47.354Z,1628815547.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00C88,183,80,80,9A,FF
2021-08-13T00:45:47.354Z,1628815547.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:47.354Z,1628815547.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:47.356Z,1628815547.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:47.806Z,1628815547.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:48.174Z,1628815548.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,00C58,185,80,80,60,FF
2021-08-13T00:45:48.174Z,1628815548.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:48.606Z,1628815548.606 [Micromodem](INFO): Nmea in: $SNTTA,0.103504,,,,004548.88*4E

2021-08-13T00:45:48.628Z,1628815548.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.099991 m, bearing: 339.983785 deg, deltaT: 4.503734 s, approachRate: -0.639470 m/s, LOS rate: -0.190535 deg/s, posRepo size: 4
2021-08-13T00:45:48.630Z,1628815548.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.099991 m,
      bearing: 339.983785 deg,
      approachRate: -0.639470 m/s,
      LOS rate: -0.190535 deg/s,
      cmd update: -0.571604 deg/s,
      cmd heading: 331.151518 deg,
      new cmd heading: 331.161908 deg.

2021-08-13T00:45:51.069Z,1628815551.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:51.397Z,1628815551.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:51.397Z,1628815551.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:51.397Z,1628815551.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:51.398Z,1628815551.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:51.814Z,1628815551.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,00C58,185,80,80,60,FF
2021-08-13T00:45:51.814Z,1628815551.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:51.815Z,1628815551.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:51.820Z,1628815551.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:52.213Z,1628815552.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:52.613Z,1628815552.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00C29,184,80,80,60,FF
2021-08-13T00:45:52.614Z,1628815552.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:53.037Z,1628815553.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004553.35*5F

2021-08-13T00:45:53.063Z,1628815553.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.279999 m, bearing: 340.158119 deg, deltaT: 4.392069 s, approachRate: -0.642065 m/s, LOS rate: 0.039693 deg/s, posRepo size: 4
2021-08-13T00:45:53.085Z,1628815553.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.279999 m,
      bearing: 340.158119 deg,
      approachRate: -0.642065 m/s,
      LOS rate: 0.039693 deg/s,
      cmd update: 0.119079 deg/s,
      cmd heading: 328.640885 deg,
      new cmd heading: 328.396605 deg.

2021-08-13T00:45:55.451Z,1628815555.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:45:55.865Z,1628815555.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:45:55.865Z,1628815555.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:45:55.866Z,1628815555.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:45:55.867Z,1628815555.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:45:56.241Z,1628815556.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00C29,184,80,80,60,FF
2021-08-13T00:45:56.241Z,1628815556.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:45:56.241Z,1628815556.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:45:56.243Z,1628815556.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:45:56.302Z,1628815556.302 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T00:45:56.661Z,1628815556.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:45:57.050Z,1628815557.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00BFA,186,80,80,A6,FF
2021-08-13T00:45:57.050Z,1628815557.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:45:57.490Z,1628815557.490 [Micromodem](INFO): Nmea in: $SNTTA,0.097386,,,,004557.77*40

2021-08-13T00:45:57.511Z,1628815557.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 340.576018 deg, deltaT: 4.483071 s, approachRate: -0.629031 m/s, LOS rate: 0.093217 deg/s, posRepo size: 4
2021-08-13T00:45:57.514Z,1628815557.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 340.576018 deg,
      approachRate: -0.629031 m/s,
      LOS rate: 0.093217 deg/s,
      cmd update: 0.279651 deg/s,
      cmd heading: 329.174254 deg,
      new cmd heading: 329.221533 deg.

2021-08-13T00:45:59.981Z,1628815559.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:00.277Z,1628815560.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:00.277Z,1628815560.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:00.277Z,1628815560.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:00.278Z,1628815560.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:00.699Z,1628815560.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00BFA,186,80,80,A6,FF
2021-08-13T00:46:00.699Z,1628815560.699 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:00.699Z,1628815560.699 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:00.701Z,1628815560.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:01.101Z,1628815561.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:01.503Z,1628815561.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00BCB,187,80,80,B1,FF
2021-08-13T00:46:01.503Z,1628815561.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:01.965Z,1628815561.965 [Micromodem](INFO): Nmea in: $SNTTA,0.097878,,,,004602.23*48

2021-08-13T00:46:02.033Z,1628815562.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.639999 m, bearing: 340.310296 deg, deltaT: 4.433535 s, approachRate: -0.636063 m/s, LOS rate: -0.059934 deg/s, posRepo size: 4
2021-08-13T00:46:02.035Z,1628815562.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 340.310296 deg,
      approachRate: -0.636063 m/s,
      LOS rate: -0.059934 deg/s,
      cmd update: -0.179803 deg/s,
      cmd heading: 330.414100 deg,
      new cmd heading: 330.549804 deg.

2021-08-13T00:46:04.058Z,1628815564.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:04.329Z,1628815564.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:04.329Z,1628815564.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:04.329Z,1628815564.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:04.330Z,1628815564.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:04.737Z,1628815564.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00BCB,187,80,80,B1,FF
2021-08-13T00:46:04.737Z,1628815564.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:04.737Z,1628815564.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:04.740Z,1628815564.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:05.140Z,1628815565.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:05.538Z,1628815565.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00BA0,184,80,80,AD,FF
2021-08-13T00:46:05.539Z,1628815565.539 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:05.997Z,1628815565.997 [Micromodem](INFO): Nmea in: $SNTTA,0.093792,,,,004606.27*47

2021-08-13T00:46:06.075Z,1628815566.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 340.855345 deg, deltaT: 4.045906 s, approachRate: -0.637682 m/s, LOS rate: 0.134716 deg/s, posRepo size: 4
2021-08-13T00:46:06.081Z,1628815566.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.059998 m,
      bearing: 340.855345 deg,
      approachRate: -0.637682 m/s,
      LOS rate: 0.134716 deg/s,
      cmd update: 0.404149 deg/s,
      cmd heading: 329.686668 deg,
      new cmd heading: 329.600099 deg.

2021-08-13T00:46:08.378Z,1628815568.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:08.768Z,1628815568.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:08.768Z,1628815568.768 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:08.769Z,1628815568.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:08.770Z,1628815568.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:09.178Z,1628815569.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00BA0,184,80,80,AD,FF
2021-08-13T00:46:09.178Z,1628815569.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:09.178Z,1628815569.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:09.180Z,1628815569.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:09.576Z,1628815569.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:09.985Z,1628815569.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA0,000,00B6E,186,80,80,B8,FF
2021-08-13T00:46:09.985Z,1628815569.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:10.433Z,1628815570.433 [Micromodem](INFO): Nmea in: $SNTTA,0.094169,,,,004610.71*46

2021-08-13T00:46:10.462Z,1628815570.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.059998 m, bearing: 340.625168 deg, deltaT: 4.470389 s, approachRate: -0.671083 m/s, LOS rate: -0.051489 deg/s, posRepo size: 4
2021-08-13T00:46:10.465Z,1628815570.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.059998 m,
      bearing: 340.625168 deg,
      approachRate: -0.671083 m/s,
      LOS rate: -0.051489 deg/s,
      cmd update: -0.154468 deg/s,
      cmd heading: 331.491838 deg,
      new cmd heading: 331.653705 deg.

2021-08-13T00:46:12.890Z,1628815572.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:13.218Z,1628815573.218 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:13.218Z,1628815573.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:13.218Z,1628815573.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:13.219Z,1628815573.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:13.625Z,1628815573.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA0,000,00B6E,186,80,80,B8,FF
2021-08-13T00:46:13.625Z,1628815573.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:13.625Z,1628815573.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:13.627Z,1628815573.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:14.037Z,1628815574.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:14.425Z,1628815574.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00B3C,184,80,80,BC,FF
2021-08-13T00:46:14.425Z,1628815574.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:14.894Z,1628815574.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.059998 m, bearing: 340.134951 deg, deltaT: 4.421302 s, approachRate: -0.678533 m/s, LOS rate: -0.110876 deg/s, posRepo size: 4
2021-08-13T00:46:14.897Z,1628815574.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.059998 m,
      bearing: 340.134951 deg,
      approachRate: -0.678533 m/s,
      LOS rate: -0.110876 deg/s,
      cmd update: -0.332628 deg/s,
      cmd heading: 330.809157 deg,
      new cmd heading: 330.745123 deg.

2021-08-13T00:46:17.287Z,1628815577.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:17.653Z,1628815577.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:17.653Z,1628815577.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:17.653Z,1628815577.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:17.654Z,1628815577.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:18.057Z,1628815578.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00B3C,184,80,80,BC,FF
2021-08-13T00:46:18.057Z,1628815578.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:18.057Z,1628815578.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:18.059Z,1628815578.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:18.468Z,1628815578.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:18.870Z,1628815578.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00B0D,184,80,80,BF,FF
2021-08-13T00:46:18.870Z,1628815578.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:19.313Z,1628815579.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004619.59*58

2021-08-13T00:46:19.329Z,1628815579.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.240005 m, bearing: 340.844854 deg, deltaT: 4.447658 s, approachRate: -0.634040 m/s, LOS rate: 0.159613 deg/s, posRepo size: 4
2021-08-13T00:46:19.331Z,1628815579.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.240005 m,
      bearing: 340.844854 deg,
      approachRate: -0.634040 m/s,
      LOS rate: 0.159613 deg/s,
      cmd update: 0.478838 deg/s,
      cmd heading: 329.330745 deg,
      new cmd heading: 329.196352 deg.

2021-08-13T00:46:21.719Z,1628815581.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:22.097Z,1628815582.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:22.097Z,1628815582.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:22.097Z,1628815582.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:22.098Z,1628815582.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:22.509Z,1628815582.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00B0D,184,80,80,BF,FF
2021-08-13T00:46:22.509Z,1628815582.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:22.509Z,1628815582.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:22.511Z,1628815582.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:22.921Z,1628815582.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:23.313Z,1628815583.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00ADE,187,80,80,AB,FF
2021-08-13T00:46:23.314Z,1628815583.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:23.757Z,1628815583.757 [Micromodem](INFO): Nmea in: $SNTTA,0.088391,,,,004624.04*4B

2021-08-13T00:46:23.821Z,1628815583.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.419998 m, bearing: 341.463724 deg, deltaT: 4.425519 s, approachRate: -0.637215 m/s, LOS rate: 0.139841 deg/s, posRepo size: 4
2021-08-13T00:46:23.823Z,1628815583.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.419998 m,
      bearing: 341.463724 deg,
      approachRate: -0.637215 m/s,
      LOS rate: 0.139841 deg/s,
      cmd update: 0.419524 deg/s,
      cmd heading: 331.453955 deg,
      new cmd heading: 331.673531 deg.

2021-08-13T00:46:26.217Z,1628815586.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:26.543Z,1628815586.543 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:26.543Z,1628815586.543 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:26.543Z,1628815586.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:26.544Z,1628815586.544 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:26.953Z,1628815586.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00ADE,187,80,80,AB,FF
2021-08-13T00:46:26.953Z,1628815586.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:26.953Z,1628815586.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:26.955Z,1628815586.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:27.360Z,1628815587.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:27.776Z,1628815587.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00AAB,184,80,80,95,FF
2021-08-13T00:46:27.778Z,1628815587.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:28.169Z,1628815588.169 [Micromodem](INFO): Nmea in: $SNTTA,0.087679,0.406039,,,004628.48*55

2021-08-13T00:46:28.227Z,1628815588.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.360008 m, bearing: 340.086648 deg, deltaT: 4.470403 s, approachRate: -0.684500 m/s, LOS rate: -0.308043 deg/s, posRepo size: 4
2021-08-13T00:46:28.229Z,1628815588.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 340.086648 deg,
      approachRate: -0.684500 m/s,
      LOS rate: -0.308043 deg/s,
      cmd update: -0.924128 deg/s,
      cmd heading: 333.329286 deg,
      new cmd heading: 333.496330 deg.

2021-08-13T00:46:30.603Z,1628815590.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:30.981Z,1628815590.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:30.981Z,1628815590.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:30.981Z,1628815590.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:30.982Z,1628815590.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:31.389Z,1628815591.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00AAB,184,80,80,95,FF
2021-08-13T00:46:31.389Z,1628815591.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:31.389Z,1628815591.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:31.391Z,1628815591.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:31.814Z,1628815591.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:32.211Z,1628815592.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00A80,184,80,80,C0,FF
2021-08-13T00:46:32.211Z,1628815592.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:32.641Z,1628815592.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004632.92*56

2021-08-13T00:46:32.663Z,1628815592.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.779999 m, bearing: 341.223110 deg, deltaT: 4.415135 s, approachRate: -0.584356 m/s, LOS rate: 0.257401 deg/s, posRepo size: 4
2021-08-13T00:46:32.666Z,1628815592.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.779999 m,
      bearing: 341.223110 deg,
      approachRate: -0.584356 m/s,
      LOS rate: 0.257401 deg/s,
      cmd update: 0.772204 deg/s,
      cmd heading: 329.245068 deg,
      new cmd heading: 328.861314 deg.

2021-08-13T00:46:35.057Z,1628815595.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:35.425Z,1628815595.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:35.425Z,1628815595.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:35.425Z,1628815595.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:35.426Z,1628815595.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:35.854Z,1628815595.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00A80,184,80,80,C0,FF
2021-08-13T00:46:35.854Z,1628815595.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:35.855Z,1628815595.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:35.869Z,1628815595.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:36.246Z,1628815596.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:36.654Z,1628815596.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00A4D,187,80,80,B4,FF
2021-08-13T00:46:36.654Z,1628815596.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:37.077Z,1628815597.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004637.39*52

2021-08-13T00:46:37.104Z,1628815597.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.720001 m, bearing: 341.293788 deg, deltaT: 4.423041 s, approachRate: -0.691831 m/s, LOS rate: 0.015980 deg/s, posRepo size: 4
2021-08-13T00:46:37.106Z,1628815597.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.720001 m,
      bearing: 341.293788 deg,
      approachRate: -0.691831 m/s,
      LOS rate: 0.015980 deg/s,
      cmd update: 0.047939 deg/s,
      cmd heading: 332.660562 deg,
      new cmd heading: 332.994488 deg.

2021-08-13T00:46:39.501Z,1628815599.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:39.892Z,1628815599.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:39.893Z,1628815599.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:39.893Z,1628815599.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:39.894Z,1628815599.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:40.281Z,1628815600.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00A4D,187,80,80,B4,FF
2021-08-13T00:46:40.281Z,1628815600.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:40.281Z,1628815600.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:40.283Z,1628815600.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:40.700Z,1628815600.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:41.101Z,1628815601.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00A1D,184,80,80,C0,FF
2021-08-13T00:46:41.101Z,1628815601.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:41.530Z,1628815601.530 [Micromodem](INFO): Nmea in: $SNTTA,0.085028,,,,004641.81*49

2021-08-13T00:46:41.551Z,1628815601.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 341.675842 deg, deltaT: 4.490624 s, approachRate: -0.641336 m/s, LOS rate: 0.085078 deg/s, posRepo size: 4
2021-08-13T00:46:41.554Z,1628815601.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 341.675842 deg,
      approachRate: -0.641336 m/s,
      LOS rate: 0.085078 deg/s,
      cmd update: 0.255234 deg/s,
      cmd heading: 332.875412 deg,
      new cmd heading: 332.894515 deg.

2021-08-13T00:46:44.085Z,1628815604.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:44.325Z,1628815604.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:44.325Z,1628815604.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:44.325Z,1628815604.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:44.326Z,1628815604.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:44.725Z,1628815604.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00A1D,184,80,80,C0,FF
2021-08-13T00:46:44.725Z,1628815604.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:44.725Z,1628815604.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:44.727Z,1628815604.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:45.144Z,1628815605.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:45.541Z,1628815605.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,009EC,184,80,80,BE,FF
2021-08-13T00:46:45.541Z,1628815605.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:45.977Z,1628815605.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004646.25*59

2021-08-13T00:46:46.075Z,1628815606.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.900002 m, bearing: 341.387116 deg, deltaT: 4.432686 s, approachRate: -0.663255 m/s, LOS rate: -0.065136 deg/s, posRepo size: 4
2021-08-13T00:46:46.077Z,1628815606.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.900002 m,
      bearing: 341.387116 deg,
      approachRate: -0.663255 m/s,
      LOS rate: -0.065136 deg/s,
      cmd update: -0.195407 deg/s,
      cmd heading: 334.009019 deg,
      new cmd heading: 334.131761 deg.

2021-08-13T00:46:48.384Z,1628815608.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:48.765Z,1628815608.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:48.765Z,1628815608.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:48.765Z,1628815608.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:48.766Z,1628815608.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:49.173Z,1628815609.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,009EC,184,80,80,BE,FF
2021-08-13T00:46:49.173Z,1628815609.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:49.173Z,1628815609.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:49.175Z,1628815609.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:49.589Z,1628815609.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:50.005Z,1628815610.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,009BA,185,80,80,B3,FF
2021-08-13T00:46:50.005Z,1628815610.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:50.009Z,1628815610.009 [Micromodem](INFO): Nmea in: $SNTTA,0.295663,0.295638,,,004650.70*50

2021-08-13T00:46:50.427Z,1628815610.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.900009 m, bearing: 340.916817 deg, deltaT: 4.496276 s, approachRate: -0.667217 m/s, LOS rate: -0.104598 deg/s, posRepo size: 4
2021-08-13T00:46:50.429Z,1628815610.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 340.916817 deg,
      approachRate: -0.667217 m/s,
      LOS rate: -0.104598 deg/s,
      cmd update: -0.313793 deg/s,
      cmd heading: 333.131164 deg,
      new cmd heading: 333.064678 deg.

2021-08-13T00:46:52.889Z,1628815612.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:53.213Z,1628815613.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:53.213Z,1628815613.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:53.213Z,1628815613.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:53.214Z,1628815613.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:53.621Z,1628815613.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,009BA,185,80,80,B3,FF
2021-08-13T00:46:53.621Z,1628815613.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:53.621Z,1628815613.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:53.623Z,1628815613.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:54.033Z,1628815614.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:54.433Z,1628815614.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,0098A,184,80,80,AB,FF
2021-08-13T00:46:54.433Z,1628815614.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:54.877Z,1628815614.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004655.15*58

2021-08-13T00:46:54.926Z,1628815614.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.020004 m, bearing: 342.769492 deg, deltaT: 4.392640 s, approachRate: -0.655643 m/s, LOS rate: 0.421768 deg/s, posRepo size: 4
2021-08-13T00:46:54.927Z,1628815614.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.020004 m,
      bearing: 342.769492 deg,
      approachRate: -0.655643 m/s,
      LOS rate: 0.421768 deg/s,
      cmd update: 1.265304 deg/s,
      cmd heading: 331.752847 deg,
      new cmd heading: 331.612818 deg.

2021-08-13T00:46:57.291Z,1628815617.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:46:57.665Z,1628815617.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:46:57.665Z,1628815617.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:46:57.665Z,1628815617.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:46:57.666Z,1628815617.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:46:58.061Z,1628815618.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,0098A,184,80,80,AB,FF
2021-08-13T00:46:58.061Z,1628815618.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:46:58.061Z,1628815618.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:46:58.063Z,1628815618.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:46:58.480Z,1628815618.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:46:58.874Z,1628815618.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,0095D,186,80,80,A2,FF
2021-08-13T00:46:58.874Z,1628815618.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:46:59.313Z,1628815619.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004659.59*5C

2021-08-13T00:46:59.344Z,1628815619.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 342.597344 deg, deltaT: 4.444857 s, approachRate: -0.607443 m/s, LOS rate: -0.038730 deg/s, posRepo size: 4
2021-08-13T00:46:59.346Z,1628815619.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.320007 m,
      bearing: 342.597344 deg,
      approachRate: -0.607443 m/s,
      LOS rate: -0.038730 deg/s,
      cmd update: -0.116189 deg/s,
      cmd heading: 337.376919 deg,
      new cmd heading: 337.907730 deg.

2021-08-13T00:47:01.750Z,1628815621.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:02.101Z,1628815622.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:02.101Z,1628815622.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:02.101Z,1628815622.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:02.102Z,1628815622.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:02.513Z,1628815622.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,0095D,186,80,80,A2,FF
2021-08-13T00:47:02.513Z,1628815622.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:02.513Z,1628815622.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:02.517Z,1628815622.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:02.917Z,1628815622.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:03.326Z,1628815623.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,0092B,185,80,80,C7,FF
2021-08-13T00:47:03.326Z,1628815623.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:03.760Z,1628815623.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004704.04*5D

2021-08-13T00:47:03.819Z,1628815623.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 340.203253 deg, deltaT: 4.447928 s, approachRate: -0.674473 m/s, LOS rate: -0.538249 deg/s, posRepo size: 4
2021-08-13T00:47:03.826Z,1628815623.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 340.203253 deg,
      approachRate: -0.674473 m/s,
      LOS rate: -0.538249 deg/s,
      cmd update: -1.614746 deg/s,
      cmd heading: 336.860102 deg,
      new cmd heading: 336.808130 deg.

2021-08-13T00:47:06.229Z,1628815626.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:06.546Z,1628815626.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:06.546Z,1628815626.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:06.546Z,1628815626.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:06.547Z,1628815626.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:06.949Z,1628815626.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,0092B,185,80,80,C7,FF
2021-08-13T00:47:06.949Z,1628815626.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:06.949Z,1628815626.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:06.951Z,1628815626.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:07.361Z,1628815627.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:07.769Z,1628815627.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,008F8,182,80,80,A1,FF
2021-08-13T00:47:07.770Z,1628815627.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:08.197Z,1628815628.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004708.48*59

2021-08-13T00:47:08.262Z,1628815628.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 342.133328 deg, deltaT: 4.472901 s, approachRate: -0.684119 m/s, LOS rate: 0.431504 deg/s, posRepo size: 4
2021-08-13T00:47:08.264Z,1628815628.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 342.133328 deg,
      approachRate: -0.684119 m/s,
      LOS rate: 0.431504 deg/s,
      cmd update: 1.294512 deg/s,
      cmd heading: 329.653604 deg,
      new cmd heading: 328.964254 deg.

2021-08-13T00:47:10.623Z,1628815630.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:10.989Z,1628815630.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:10.989Z,1628815630.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:10.989Z,1628815630.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:10.990Z,1628815630.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:11.393Z,1628815631.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,008F8,182,80,80,A1,FF
2021-08-13T00:47:11.393Z,1628815631.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:11.393Z,1628815631.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:11.395Z,1628815631.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:11.829Z,1628815631.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:12.219Z,1628815632.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,008CC,187,80,80,A3,FF
2021-08-13T00:47:12.219Z,1628815632.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:12.645Z,1628815632.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004712.92*55

2021-08-13T00:47:12.668Z,1628815632.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.620003 m, bearing: 343.341616 deg, deltaT: 4.457957 s, approachRate: -0.592199 m/s, LOS rate: 0.271041 deg/s, posRepo size: 4
2021-08-13T00:47:12.670Z,1628815632.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.620003 m,
      bearing: 343.341616 deg,
      approachRate: -0.592199 m/s,
      LOS rate: 0.271041 deg/s,
      cmd update: 0.813122 deg/s,
      cmd heading: 335.437257 deg,
      new cmd heading: 335.909579 deg.

2021-08-13T00:47:15.065Z,1628815635.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:15.433Z,1628815635.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:15.433Z,1628815635.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:15.433Z,1628815635.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:15.434Z,1628815635.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:15.854Z,1628815635.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,008CC,187,80,80,A3,FF
2021-08-13T00:47:15.854Z,1628815635.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:15.855Z,1628815635.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:15.861Z,1628815635.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:16.252Z,1628815636.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:16.644Z,1628815636.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0089E,183,80,80,95,FF
2021-08-13T00:47:16.644Z,1628815636.644 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:17.070Z,1628815637.070 [Micromodem](INFO): Nmea in: $SNTTA,0.068779,,,,004717.39*48

2021-08-13T00:47:17.126Z,1628815637.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 339.798906 deg, deltaT: 4.356374 s, approachRate: -0.633555 m/s, LOS rate: -0.813224 deg/s, posRepo size: 4
2021-08-13T00:47:17.133Z,1628815637.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.860001 m,
      bearing: 339.798906 deg,
      approachRate: -0.633555 m/s,
      LOS rate: -0.813224 deg/s,
      cmd update: -2.439673 deg/s,
      cmd heading: 338.982917 deg,
      new cmd heading: 339.354704 deg.

2021-08-13T00:47:19.495Z,1628815639.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:19.902Z,1628815639.902 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:19.903Z,1628815639.903 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:19.903Z,1628815639.903 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:19.905Z,1628815639.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:20.296Z,1628815640.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0089E,183,80,80,95,FF
2021-08-13T00:47:20.296Z,1628815640.296 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:20.297Z,1628815640.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:20.298Z,1628815640.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:20.696Z,1628815640.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:21.105Z,1628815641.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00870,184,80,80,85,FF
2021-08-13T00:47:21.105Z,1628815641.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:21.525Z,1628815641.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004721.82*54

2021-08-13T00:47:21.568Z,1628815641.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.100006 m, bearing: 339.852099 deg, deltaT: 4.492914 s, approachRate: -0.614299 m/s, LOS rate: 0.011839 deg/s, posRepo size: 4
2021-08-13T00:47:21.570Z,1628815641.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.100006 m,
      bearing: 339.852099 deg,
      approachRate: -0.614299 m/s,
      LOS rate: 0.011839 deg/s,
      cmd update: 0.035518 deg/s,
      cmd heading: 328.080929 deg,
      new cmd heading: 327.067320 deg.

2021-08-13T00:47:24.014Z,1628815644.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:24.325Z,1628815644.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:24.325Z,1628815644.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:24.325Z,1628815644.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:24.326Z,1628815644.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:24.721Z,1628815644.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00870,184,80,80,85,FF
2021-08-13T00:47:24.721Z,1628815644.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:24.721Z,1628815644.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:24.723Z,1628815644.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:25.132Z,1628815645.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:25.533Z,1628815645.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,0083C,186,80,80,BA,FF
2021-08-13T00:47:25.533Z,1628815645.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:25.978Z,1628815645.978 [Micromodem](INFO): Nmea in: $SNTTA,0.059080,,,,004726.25*44

2021-08-13T00:47:26.078Z,1628815646.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 342.860169 deg, deltaT: 4.414291 s, approachRate: -0.706796 m/s, LOS rate: 0.681439 deg/s, posRepo size: 4
2021-08-13T00:47:26.086Z,1628815646.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 342.860169 deg,
      approachRate: -0.706796 m/s,
      LOS rate: 0.681439 deg/s,
      cmd update: 2.044317 deg/s,
      cmd heading: 328.237868 deg,
      new cmd heading: 328.256212 deg.

2021-08-13T00:47:28.395Z,1628815648.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:28.799Z,1628815648.799 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:28.799Z,1628815648.799 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:28.799Z,1628815648.799 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:28.800Z,1628815648.800 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:29.169Z,1628815649.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,0083C,186,80,80,BA,FF
2021-08-13T00:47:29.169Z,1628815649.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:29.169Z,1628815649.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:29.171Z,1628815649.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:29.588Z,1628815649.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:29.977Z,1628815649.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00813,187,80,80,70,FF
2021-08-13T00:47:29.977Z,1628815649.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:30.418Z,1628815650.418 [Micromodem](INFO): Nmea in: $SNTTA,0.071758,,,,004730.70*4B

2021-08-13T00:47:30.435Z,1628815650.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 342.226546 deg, deltaT: 4.505015 s, approachRate: -0.546058 m/s, LOS rate: -0.140648 deg/s, posRepo size: 4
2021-08-13T00:47:30.437Z,1628815650.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.520004 m,
      bearing: 342.226546 deg,
      approachRate: -0.546058 m/s,
      LOS rate: -0.140648 deg/s,
      cmd update: -0.421945 deg/s,
      cmd heading: 337.480093 deg,
      new cmd heading: 338.222354 deg.

2021-08-13T00:47:32.898Z,1628815652.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:33.209Z,1628815653.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:33.209Z,1628815653.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:33.209Z,1628815653.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:33.210Z,1628815653.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:33.609Z,1628815653.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00813,187,80,80,70,FF
2021-08-13T00:47:33.609Z,1628815653.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:33.610Z,1628815653.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:33.611Z,1628815653.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:34.031Z,1628815654.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:34.433Z,1628815654.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,007E2,183,80,80,99,FF
2021-08-13T00:47:34.433Z,1628815654.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:34.881Z,1628815654.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004735.14*5E

2021-08-13T00:47:34.927Z,1628815654.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 341.200133 deg, deltaT: 4.398401 s, approachRate: -0.668425 m/s, LOS rate: -0.233361 deg/s, posRepo size: 4
2021-08-13T00:47:34.934Z,1628815654.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.580002 m,
      bearing: 341.200133 deg,
      approachRate: -0.668425 m/s,
      LOS rate: -0.233361 deg/s,
      cmd update: -0.700082 deg/s,
      cmd heading: 335.622626 deg,
      new cmd heading: 335.431264 deg.

2021-08-13T00:47:37.271Z,1628815657.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:37.665Z,1628815657.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:37.665Z,1628815657.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:37.665Z,1628815657.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:37.666Z,1628815657.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:38.057Z,1628815658.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,007E2,183,80,80,99,FF
2021-08-13T00:47:38.057Z,1628815658.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:38.057Z,1628815658.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:38.059Z,1628815658.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:38.468Z,1628815658.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:38.862Z,1628815658.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,007B2,183,80,80,9B,FF
2021-08-13T00:47:38.862Z,1628815658.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:39.301Z,1628815659.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004739.58*5A

2021-08-13T00:47:39.344Z,1628815659.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.700005 m, bearing: 341.416322 deg, deltaT: 4.447705 s, approachRate: -0.647524 m/s, LOS rate: 0.048607 deg/s, posRepo size: 4
2021-08-13T00:47:39.346Z,1628815659.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.700005 m,
      bearing: 341.416322 deg,
      approachRate: -0.647524 m/s,
      LOS rate: 0.048607 deg/s,
      cmd update: 0.145821 deg/s,
      cmd heading: 332.511415 deg,
      new cmd heading: 332.230101 deg.

2021-08-13T00:47:41.715Z,1628815661.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:42.101Z,1628815662.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:42.101Z,1628815662.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:42.101Z,1628815662.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:42.102Z,1628815662.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:42.509Z,1628815662.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,007B2,183,80,80,9B,FF
2021-08-13T00:47:42.510Z,1628815662.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:42.510Z,1628815662.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:42.511Z,1628815662.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:42.917Z,1628815662.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:43.313Z,1628815663.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00783,186,80,80,B4,FF
2021-08-13T00:47:43.313Z,1628815663.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:43.758Z,1628815663.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004744.04*59

2021-08-13T00:47:43.825Z,1628815663.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 343.588814 deg, deltaT: 4.444411 s, approachRate: -0.634505 m/s, LOS rate: 0.488814 deg/s, posRepo size: 4
2021-08-13T00:47:43.827Z,1628815663.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.880005 m,
      bearing: 343.588814 deg,
      approachRate: -0.634505 m/s,
      LOS rate: 0.488814 deg/s,
      cmd update: 1.466443 deg/s,
      cmd heading: 333.159499 deg,
      new cmd heading: 333.227039 deg.

2021-08-13T00:47:46.217Z,1628815666.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:46.545Z,1628815666.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:46.545Z,1628815666.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:46.545Z,1628815666.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:46.546Z,1628815666.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:46.949Z,1628815666.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00783,186,80,80,B4,FF
2021-08-13T00:47:46.949Z,1628815666.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:46.949Z,1628815666.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:46.951Z,1628815666.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:47.372Z,1628815667.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:47.769Z,1628815667.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,0074F,184,80,80,A0,FF
2021-08-13T00:47:47.770Z,1628815667.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:48.173Z,1628815668.173 [Micromodem](INFO): Nmea in: $SNTTA,0.367397,0.367534,,,004748.48*52

2021-08-13T00:47:48.231Z,1628815668.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 342.243157 deg, deltaT: 4.468132 s, approachRate: -0.698279 m/s, LOS rate: -0.301168 deg/s, posRepo size: 4
2021-08-13T00:47:48.249Z,1628815668.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.760002 m,
      bearing: 342.243157 deg,
      approachRate: -0.698279 m/s,
      LOS rate: -0.301168 deg/s,
      cmd update: -0.903503 deg/s,
      cmd heading: 339.714055 deg,
      new cmd heading: 340.298648 deg.

2021-08-13T00:47:50.607Z,1628815670.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:50.997Z,1628815670.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:50.997Z,1628815670.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:50.997Z,1628815670.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:50.998Z,1628815670.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:51.401Z,1628815671.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,0074F,184,80,80,A0,FF
2021-08-13T00:47:51.401Z,1628815671.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:51.402Z,1628815671.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:51.403Z,1628815671.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:51.816Z,1628815671.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:52.215Z,1628815672.215 [Micromodem](INFO): Nmea in: $SNTTA,0.181864,0.181514,,,004752.93*5A

2021-08-13T00:47:53.435Z,1628815673.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:55.029Z,1628815675.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,A0,FF
2021-08-13T00:47:55.029Z,1628815675.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,A0,FF
2021-08-13T00:47:55.030Z,1628815675.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:47:55.939Z,1628815675.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:47:56.257Z,1628815676.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:47:56.257Z,1628815676.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:47:56.257Z,1628815676.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:47:56.258Z,1628815676.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:47:56.649Z,1628815676.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,A0,FF
2021-08-13T00:47:56.649Z,1628815676.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:47:56.649Z,1628815676.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:47:56.651Z,1628815676.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:47:57.077Z,1628815677.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:47:57.461Z,1628815677.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,006E5,185,80,80,C1,FF
2021-08-13T00:47:57.461Z,1628815677.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:47:57.929Z,1628815677.929 [Micromodem](INFO): Nmea in: $SNTTA,0.058266,,,,004758.18*48

2021-08-13T00:47:57.996Z,1628815677.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 343.386941 deg, deltaT: 9.643639 s, approachRate: -0.659501 m/s, LOS rate: 0.118605 deg/s, posRepo size: 4
2021-08-13T00:47:57.998Z,1628815677.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.400009 m,
      bearing: 343.386941 deg,
      approachRate: -0.659501 m/s,
      LOS rate: 0.118605 deg/s,
      cmd update: 0.355815 deg/s,
      cmd heading: 330.998780 deg,
      new cmd heading: 330.533844 deg.

2021-08-13T00:47:59.992Z,1628815679.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:00.301Z,1628815680.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:00.301Z,1628815680.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:00.301Z,1628815680.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:00.302Z,1628815680.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:00.697Z,1628815680.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,006E5,185,80,80,C1,FF
2021-08-13T00:48:00.697Z,1628815680.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:00.697Z,1628815680.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:00.699Z,1628815680.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:01.140Z,1628815681.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:01.501Z,1628815681.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,006BC,186,80,80,9B,FF
2021-08-13T00:48:01.502Z,1628815681.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:01.969Z,1628815681.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004802.23*51

2021-08-13T00:48:02.039Z,1628815682.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.940010 m, bearing: 343.095756 deg, deltaT: 4.040817 s, approachRate: -0.608788 m/s, LOS rate: -0.072061 deg/s, posRepo size: 4
2021-08-13T00:48:02.042Z,1628815682.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.940010 m,
      bearing: 343.095756 deg,
      approachRate: -0.608788 m/s,
      LOS rate: -0.072061 deg/s,
      cmd update: -0.216182 deg/s,
      cmd heading: 332.436563 deg,
      new cmd heading: 332.621765 deg.

2021-08-13T00:48:04.026Z,1628815684.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:04.334Z,1628815684.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:04.334Z,1628815684.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:04.334Z,1628815684.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:04.335Z,1628815684.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:04.729Z,1628815684.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,006BC,186,80,80,9B,FF
2021-08-13T00:48:04.729Z,1628815684.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:04.729Z,1628815684.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:04.731Z,1628815684.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:05.139Z,1628815685.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:05.541Z,1628815685.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00695,187,80,80,7C,FF
2021-08-13T00:48:05.541Z,1628815685.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:05.991Z,1628815685.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004806.26*50

2021-08-13T00:48:06.095Z,1628815686.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 342.521228 deg, deltaT: 4.039821 s, approachRate: -0.579235 m/s, LOS rate: -0.142216 deg/s, posRepo size: 4
2021-08-13T00:48:06.102Z,1628815686.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 342.521228 deg,
      approachRate: -0.579235 m/s,
      LOS rate: -0.142216 deg/s,
      cmd update: -0.426649 deg/s,
      cmd heading: 331.563313 deg,
      new cmd heading: 331.454635 deg.

2021-08-13T00:48:08.430Z,1628815688.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:08.772Z,1628815688.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:08.773Z,1628815688.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:08.773Z,1628815688.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:08.775Z,1628815688.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:09.184Z,1628815689.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00695,187,80,80,7C,FF
2021-08-13T00:48:09.184Z,1628815689.184 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:09.184Z,1628815689.184 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:09.187Z,1628815689.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:09.585Z,1628815689.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:09.981Z,1628815689.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,00663,186,80,80,AE,FF
2021-08-13T00:48:09.982Z,1628815689.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:10.418Z,1628815690.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004810.72*56

2021-08-13T00:48:10.434Z,1628815690.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 342.421726 deg, deltaT: 4.539724 s, approachRate: -0.660834 m/s, LOS rate: -0.021918 deg/s, posRepo size: 4
2021-08-13T00:48:10.456Z,1628815690.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 342.421726 deg,
      approachRate: -0.660834 m/s,
      LOS rate: -0.021918 deg/s,
      cmd update: -0.065754 deg/s,
      cmd heading: 329.630247 deg,
      new cmd heading: 329.483104 deg.

2021-08-13T00:48:12.887Z,1628815692.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:13.215Z,1628815693.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:13.215Z,1628815693.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:13.215Z,1628815693.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:13.216Z,1628815693.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:13.621Z,1628815693.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,00663,186,80,80,AE,FF
2021-08-13T00:48:13.621Z,1628815693.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:13.621Z,1628815693.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:13.623Z,1628815693.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:14.029Z,1628815694.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:14.445Z,1628815694.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00631,186,80,80,7D,FF
2021-08-13T00:48:14.445Z,1628815694.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:14.874Z,1628815694.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004815.15*52

2021-08-13T00:48:14.937Z,1628815694.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 344.342539 deg, deltaT: 4.384534 s, approachRate: -0.684222 m/s, LOS rate: 0.438088 deg/s, posRepo size: 4
2021-08-13T00:48:14.939Z,1628815694.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 344.342539 deg,
      approachRate: -0.684222 m/s,
      LOS rate: 0.438088 deg/s,
      cmd update: 1.314265 deg/s,
      cmd heading: 329.341599 deg,
      new cmd heading: 329.311468 deg.

2021-08-13T00:48:17.275Z,1628815697.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:17.657Z,1628815697.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:17.657Z,1628815697.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:17.657Z,1628815697.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:17.658Z,1628815697.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:18.061Z,1628815698.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00631,186,80,80,7D,FF
2021-08-13T00:48:18.061Z,1628815698.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:18.061Z,1628815698.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:18.063Z,1628815698.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:18.476Z,1628815698.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:19.302Z,1628815699.302 [Micromodem](INFO): Nmea in: $SNTTA,0.060436,,,,004819.59*4F

2021-08-13T00:48:20.087Z,1628815700.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,03999,187,80,80,88,FF
2021-08-13T00:48:20.087Z,1628815700.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:20.532Z,1628815700.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 847.200012 m, bearing: 344.577334 deg, deltaT: 5.680368 s, approachRate: 139.005081 m/s, LOS rate: 0.041334 deg/s, posRepo size: 4
2021-08-13T00:48:20.534Z,1628815700.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 847.200012 m,
      bearing: 344.577334 deg,
      approachRate: 139.005081 m/s,
      LOS rate: 0.041334 deg/s,
      cmd update: 0.124003 deg/s,
      cmd heading: 336.801961 deg,
      new cmd heading: 337.296692 deg.

2021-08-13T00:48:22.942Z,1628815702.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:23.321Z,1628815703.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:23.321Z,1628815703.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:23.322Z,1628815703.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:23.323Z,1628815703.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:23.725Z,1628815703.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,03999,187,80,80,88,FF
2021-08-13T00:48:23.725Z,1628815703.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:23.726Z,1628815703.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:23.727Z,1628815703.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:24.129Z,1628815704.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:24.529Z,1628815704.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,005C5,184,80,80,7D,FF
2021-08-13T00:48:24.530Z,1628815704.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:24.971Z,1628815704.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004825.26*51

2021-08-13T00:48:24.998Z,1628815704.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 344.214268 deg, deltaT: 4.403423 s, approachRate: -180.786636 m/s, LOS rate: -0.082451 deg/s, posRepo size: 4
2021-08-13T00:48:25.000Z,1628815705.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.119999 m,
      bearing: 344.214268 deg,
      approachRate: -180.786636 m/s,
      LOS rate: -0.082451 deg/s,
      cmd update: -0.247352 deg/s,
      cmd heading: 337.346507 deg,
      new cmd heading: 337.402482 deg.

2021-08-13T00:48:27.387Z,1628815707.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:27.757Z,1628815707.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:27.757Z,1628815707.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:27.757Z,1628815707.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:27.758Z,1628815707.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:28.161Z,1628815708.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,005C5,184,80,80,7D,FF
2021-08-13T00:48:28.161Z,1628815708.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:28.161Z,1628815708.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:28.163Z,1628815708.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:28.569Z,1628815708.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:28.969Z,1628815708.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00598,185,80,80,75,FF
2021-08-13T00:48:28.969Z,1628815708.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:29.409Z,1628815709.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004829.69*56

2021-08-13T00:48:29.445Z,1628815709.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 343.040514 deg, deltaT: 4.429497 s, approachRate: -0.609550 m/s, LOS rate: -0.264986 deg/s, posRepo size: 4
2021-08-13T00:48:29.447Z,1628815709.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.419998 m,
      bearing: 343.040514 deg,
      approachRate: -0.609550 m/s,
      LOS rate: -0.264986 deg/s,
      cmd update: -0.794958 deg/s,
      cmd heading: 336.245901 deg,
      new cmd heading: 336.134804 deg.

2021-08-13T00:48:31.853Z,1628815711.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:32.197Z,1628815712.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:32.197Z,1628815712.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:32.197Z,1628815712.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:32.198Z,1628815712.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:32.609Z,1628815712.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00598,185,80,80,75,FF
2021-08-13T00:48:32.609Z,1628815712.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:32.610Z,1628815712.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:32.611Z,1628815712.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:33.029Z,1628815713.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:33.417Z,1628815713.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00566,186,80,80,9B,FF
2021-08-13T00:48:33.417Z,1628815713.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:33.877Z,1628815713.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004834.14*50

2021-08-13T00:48:33.957Z,1628815713.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 345.085172 deg, deltaT: 4.438012 s, approachRate: -0.675978 m/s, LOS rate: 0.460715 deg/s, posRepo size: 4
2021-08-13T00:48:33.959Z,1628815713.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 345.085172 deg,
      approachRate: -0.675978 m/s,
      LOS rate: 0.460715 deg/s,
      cmd update: 1.382145 deg/s,
      cmd heading: 332.717887 deg,
      new cmd heading: 332.305541 deg.

2021-08-13T00:48:35.939Z,1628815715.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:36.241Z,1628815716.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:36.241Z,1628815716.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:36.241Z,1628815716.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:36.242Z,1628815716.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:36.645Z,1628815716.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00566,186,80,80,9B,FF
2021-08-13T00:48:36.645Z,1628815716.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:36.645Z,1628815716.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:36.647Z,1628815716.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:37.061Z,1628815717.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:37.458Z,1628815717.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,0053A,186,80,80,7B,FF
2021-08-13T00:48:37.458Z,1628815717.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:37.917Z,1628815717.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004838.17*5F

2021-08-13T00:48:37.989Z,1628815717.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 346.810669 deg, deltaT: 4.040456 s, approachRate: -0.653391 m/s, LOS rate: 0.427055 deg/s, posRepo size: 4
2021-08-13T00:48:37.991Z,1628815717.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 346.810669 deg,
      approachRate: -0.653391 m/s,
      LOS rate: 0.427055 deg/s,
      cmd update: 1.281165 deg/s,
      cmd heading: 338.302371 deg,
      new cmd heading: 339.011886 deg.

2021-08-13T00:48:40.299Z,1628815720.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:40.689Z,1628815720.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:40.689Z,1628815720.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:40.690Z,1628815720.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:40.691Z,1628815720.691 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:41.102Z,1628815721.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,0053A,186,80,80,7B,FF
2021-08-13T00:48:41.103Z,1628815721.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:41.105Z,1628815721.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:41.118Z,1628815721.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:41.496Z,1628815721.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:41.940Z,1628815721.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0050A,184,80,80,A0,FF
2021-08-13T00:48:41.941Z,1628815721.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:42.329Z,1628815722.329 [Micromodem](INFO): Nmea in: $SNTTA,0.061615,,,,004842.64*4D

2021-08-13T00:48:42.368Z,1628815722.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 345.450122 deg, deltaT: 4.546420 s, approachRate: -0.633466 m/s, LOS rate: -0.299257 deg/s, posRepo size: 4
2021-08-13T00:48:42.369Z,1628815722.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m.
2021-08-13T00:48:42.371Z,1628815722.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.900002 m,
      bearing: 345.450122 deg,
      approachRate: -0.633466 m/s,
      LOS rate: -0.299257 deg/s,
      cmd update: -0.897770 deg/s,
      cmd heading: 344.116617 deg,
      new cmd heading: 344.566422 deg.

2021-08-13T00:48:42.751Z,1628815722.751 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:48:42.817Z,1628815722.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:48:42.817Z,1628815722.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:48:42.817Z,1628815722.817 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:48:42.818Z,1628815722.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:48:42.818Z,1628815722.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:48:42.818Z,1628815722.818 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:48:43.184Z,1628815723.184 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:48:43.184Z,1628815723.184 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:48:43.185Z,1628815723.185 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:48:43.185Z,1628815723.185 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:48:44.783Z,1628815724.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:45.141Z,1628815725.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:45.141Z,1628815725.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:45.141Z,1628815725.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:45.142Z,1628815725.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:45.545Z,1628815725.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0050A,184,80,80,A0,FF
2021-08-13T00:48:45.545Z,1628815725.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:45.545Z,1628815725.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:45.547Z,1628815725.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:45.977Z,1628815725.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:46.349Z,1628815726.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,004DB,187,80,80,94,FF
2021-08-13T00:48:46.350Z,1628815726.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:46.375Z,1628815726.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:48:46.784Z,1628815726.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004847.07*56

2021-08-13T00:48:46.833Z,1628815726.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 340.569269 deg, deltaT: 4.351936 s, approachRate: -0.647987 m/s, LOS rate: -1.121536 deg/s, posRepo size: 4
2021-08-13T00:48:46.834Z,1628815726.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m.
2021-08-13T00:48:46.836Z,1628815726.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 340.569269 deg,
      approachRate: -0.647987 m/s,
      LOS rate: -1.121536 deg/s,
      cmd update: -3.364608 deg/s,
      cmd heading: 340.207402 deg,
      new cmd heading: 339.788881 deg.

2021-08-13T00:48:48.902Z,1628815728.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:49.177Z,1628815729.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:49.177Z,1628815729.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:49.177Z,1628815729.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:49.178Z,1628815729.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:49.588Z,1628815729.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,004DB,187,80,80,94,FF
2021-08-13T00:48:49.588Z,1628815729.588 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:49.588Z,1628815729.588 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:49.593Z,1628815729.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:49.983Z,1628815729.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:50.465Z,1628815730.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,004B4,184,80,80,87,FF
2021-08-13T00:48:50.465Z,1628815730.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:50.506Z,1628815730.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:48:50.829Z,1628815730.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004851.12*55

2021-08-13T00:48:50.884Z,1628815730.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 342.053907 deg, deltaT: 4.130227 s, approachRate: -0.566555 m/s, LOS rate: 0.359457 deg/s, posRepo size: 4
2021-08-13T00:48:50.885Z,1628815730.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-08-13T00:48:50.887Z,1628815730.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 342.053907 deg,
      approachRate: -0.566555 m/s,
      LOS rate: 0.359457 deg/s,
      cmd update: 1.078370 deg/s,
      cmd heading: 326.293165 deg,
      new cmd heading: 325.023904 deg.

2021-08-13T00:48:52.043Z,1628815732.043 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:48:53.231Z,1628815733.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:53.626Z,1628815733.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:53.626Z,1628815733.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:53.626Z,1628815733.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:53.627Z,1628815733.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:54.021Z,1628815734.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,004B4,184,80,80,87,FF
2021-08-13T00:48:54.021Z,1628815734.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:54.021Z,1628815734.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:54.023Z,1628815734.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:54.428Z,1628815734.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:54.854Z,1628815734.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00489,186,80,80,70,FF
2021-08-13T00:48:54.854Z,1628815734.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:54.915Z,1628815734.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:48:55.269Z,1628815735.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004855.55*52

2021-08-13T00:48:55.305Z,1628815735.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 342.212039 deg, deltaT: 4.409109 s, approachRate: -0.585152 m/s, LOS rate: 0.035865 deg/s, posRepo size: 4
2021-08-13T00:48:55.305Z,1628815735.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.16 m.
2021-08-13T00:48:55.307Z,1628815735.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 342.212039 deg,
      approachRate: -0.585152 m/s,
      LOS rate: 0.035865 deg/s,
      cmd update: 0.107595 deg/s,
      cmd heading: 331.047786 deg,
      new cmd heading: 331.471363 deg.

2021-08-13T00:48:57.671Z,1628815737.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:48:58.069Z,1628815738.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:48:58.069Z,1628815738.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:48:58.069Z,1628815738.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:48:58.070Z,1628815738.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:48:58.466Z,1628815738.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00489,186,80,80,70,FF
2021-08-13T00:48:58.466Z,1628815738.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:48:58.466Z,1628815738.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:48:58.468Z,1628815738.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:48:58.896Z,1628815738.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:48:59.274Z,1628815739.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,0045E,187,80,80,B3,FF
2021-08-13T00:48:59.274Z,1628815739.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:48:59.294Z,1628815739.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:48:59.721Z,1628815739.721 [Micromodem](INFO): Nmea in: $SNTTA,0.038222,,,,004900.00*44

2021-08-13T00:48:59.738Z,1628815739.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 340.127192 deg, deltaT: 4.379341 s, approachRate: -0.589130 m/s, LOS rate: -0.476064 deg/s, posRepo size: 4
2021-08-13T00:48:59.740Z,1628815739.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.58 m.
2021-08-13T00:48:59.741Z,1628815739.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.58 m.
2021-08-13T00:48:59.742Z,1628815739.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:48:59.745Z,1628815739.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.580002 m,
      bearing: 340.127192 deg,
      approachRate: -0.589130 m/s,
      LOS rate: -0.476064 deg/s,
      cmd update: -1.428192 deg/s,
      cmd heading: 331.518979 deg,
      new cmd heading: 331.567007 deg.

2021-08-13T00:49:02.173Z,1628815742.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:02.505Z,1628815742.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:02.505Z,1628815742.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:02.505Z,1628815742.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:02.506Z,1628815742.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:02.926Z,1628815742.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,0045E,187,80,80,B3,FF
2021-08-13T00:49:02.926Z,1628815742.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:02.926Z,1628815742.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:02.929Z,1628815742.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:03.317Z,1628815743.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:03.730Z,1628815743.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,0042D,186,80,80,59,FF
2021-08-13T00:49:03.731Z,1628815743.731 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:03.814Z,1628815743.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:04.145Z,1628815744.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004904.45*56

2021-08-13T00:49:04.200Z,1628815744.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 337.151770 deg, deltaT: 4.519750 s, approachRate: -0.650479 m/s, LOS rate: -0.658316 deg/s, posRepo size: 4
2021-08-13T00:49:04.202Z,1628815744.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 337.151770 deg,
      approachRate: -0.650479 m/s,
      LOS rate: -0.658316 deg/s,
      cmd update: -1.974947 deg/s,
      cmd heading: 325.091181 deg,
      new cmd heading: 324.508545 deg.

2021-08-13T00:49:06.568Z,1628815746.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:06.946Z,1628815746.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:06.946Z,1628815746.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:06.946Z,1628815746.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:06.948Z,1628815746.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:07.361Z,1628815747.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,0042D,186,80,80,59,FF
2021-08-13T00:49:07.361Z,1628815747.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:07.361Z,1628815747.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:07.363Z,1628815747.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:07.785Z,1628815747.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:08.165Z,1628815748.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00402,187,80,80,53,FF
2021-08-13T00:49:08.165Z,1628815748.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:08.242Z,1628815748.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:08.602Z,1628815748.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004908.89*5A

2021-08-13T00:49:08.644Z,1628815748.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 342.639609 deg, deltaT: 4.427380 s, approachRate: -0.582737 m/s, LOS rate: 1.239523 deg/s, posRepo size: 4
2021-08-13T00:49:08.646Z,1628815748.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.059999 m,
      bearing: 342.639609 deg,
      approachRate: -0.582737 m/s,
      LOS rate: 1.239523 deg/s,
      cmd update: 3.718568 deg/s,
      cmd heading: 316.317054 deg,
      new cmd heading: 315.508890 deg.

2021-08-13T00:49:11.051Z,1628815751.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:11.393Z,1628815751.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:11.393Z,1628815751.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:11.393Z,1628815751.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:11.394Z,1628815751.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:11.826Z,1628815751.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00402,187,80,80,53,FF
2021-08-13T00:49:11.826Z,1628815751.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:11.826Z,1628815751.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:11.829Z,1628815751.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:12.279Z,1628815752.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:12.699Z,1628815752.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003D6,187,80,80,5D,FF
2021-08-13T00:49:12.700Z,1628815752.700 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:12.720Z,1628815752.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:13.093Z,1628815753.093 [Micromodem](INFO): Nmea in: $SNTTA,,0.110416,,,004913.36*49

2021-08-13T00:49:13.131Z,1628815753.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 346.383973 deg, deltaT: 4.478564 s, approachRate: -0.589474 m/s, LOS rate: 0.836064 deg/s, posRepo size: 4
2021-08-13T00:49:13.134Z,1628815753.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 346.383973 deg,
      approachRate: -0.589474 m/s,
      LOS rate: 0.836064 deg/s,
      cmd update: 2.508191 deg/s,
      cmd heading: 332.984987 deg,
      new cmd heading: 334.526248 deg.

2021-08-13T00:49:15.542Z,1628815755.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:15.965Z,1628815755.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:15.965Z,1628815755.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:15.965Z,1628815755.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:15.966Z,1628815755.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:16.315Z,1628815756.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,003D6,187,80,80,5D,FF
2021-08-13T00:49:16.315Z,1628815756.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:16.315Z,1628815756.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:16.317Z,1628815756.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:16.723Z,1628815756.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:17.117Z,1628815757.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,003B4,187,80,80,66,FF
2021-08-13T00:49:17.117Z,1628815757.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:17.177Z,1628815757.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:17.571Z,1628815757.571 [Micromodem](INFO): Nmea in: $SNTTA,0.026683,,,,004917.85*4F

2021-08-13T00:49:17.601Z,1628815757.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 337.303974 deg, deltaT: 4.456678 s, approachRate: -0.457741 m/s, LOS rate: -2.037392 deg/s, posRepo size: 4
2021-08-13T00:49:17.603Z,1628815757.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 337.303974 deg,
      approachRate: -0.457741 m/s,
      LOS rate: -2.037392 deg/s,
      cmd update: -6.112175 deg/s,
      cmd heading: 344.103543 deg,
      new cmd heading: 345.233328 deg.

2021-08-13T00:49:20.059Z,1628815760.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:20.353Z,1628815760.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:20.354Z,1628815760.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:20.354Z,1628815760.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:20.355Z,1628815760.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:20.778Z,1628815760.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,003B4,187,80,80,66,FF
2021-08-13T00:49:20.779Z,1628815760.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:20.784Z,1628815760.784 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:20.832Z,1628815760.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:21.238Z,1628815761.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:21.569Z,1628815761.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0037F,184,80,80,94,FF
2021-08-13T00:49:21.570Z,1628815761.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:21.607Z,1628815761.607 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:21.702Z,1628815761.702 [CTD_Seabird](ERROR): Failed to parse device response: .91
2021-08-13T00:49:22.024Z,1628815762.024 [RDI_PathfinderUp](ERROR): only read -1 of 4 data items
2021-08-13T00:49:22.089Z,1628815762.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 341.418535 deg, deltaT: 4.431189 s, approachRate: -0.717640 m/s, LOS rate: 0.928546 deg/s, posRepo size: 4
2021-08-13T00:49:22.091Z,1628815762.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 341.418535 deg,
      approachRate: -0.717640 m/s,
      LOS rate: 0.928546 deg/s,
      cmd update: 2.785637 deg/s,
      cmd heading: 316.892941 deg,
      new cmd heading: 313.938951 deg.

2021-08-13T00:49:22.391Z,1628815762.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004922.40*57

2021-08-13T00:49:24.426Z,1628815764.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:24.817Z,1628815764.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:24.817Z,1628815764.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:24.817Z,1628815764.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:24.818Z,1628815764.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:25.197Z,1628815765.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0037F,184,80,80,94,FF
2021-08-13T00:49:25.197Z,1628815765.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:25.197Z,1628815765.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:25.199Z,1628815765.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:25.614Z,1628815765.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:26.005Z,1628815766.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,00354,184,80,80,AF,FF
2021-08-13T00:49:26.005Z,1628815766.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:26.098Z,1628815766.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:26.446Z,1628815766.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004926.73*53

2021-08-13T00:49:26.470Z,1628815766.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 343.325360 deg, deltaT: 4.490254 s, approachRate: -0.574578 m/s, LOS rate: 0.424659 deg/s, posRepo size: 4
2021-08-13T00:49:26.473Z,1628815766.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 343.325360 deg,
      approachRate: -0.574578 m/s,
      LOS rate: 0.424659 deg/s,
      cmd update: 1.273976 deg/s,
      cmd heading: 329.397578 deg,
      new cmd heading: 330.450401 deg.

2021-08-13T00:49:28.907Z,1628815768.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:29.245Z,1628815769.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:29.245Z,1628815769.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:29.245Z,1628815769.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:29.246Z,1628815769.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:29.641Z,1628815769.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,00354,184,80,80,AF,FF
2021-08-13T00:49:29.641Z,1628815769.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:29.641Z,1628815769.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:29.643Z,1628815769.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:30.057Z,1628815770.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:30.456Z,1628815770.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,0032D,187,80,80,C0,FF
2021-08-13T00:49:30.456Z,1628815770.456 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:30.477Z,1628815770.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:30.893Z,1628815770.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004931.17*57

2021-08-13T00:49:30.949Z,1628815770.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 349.196126 deg, deltaT: 4.379021 s, approachRate: -0.534366 m/s, LOS rate: 1.340657 deg/s, posRepo size: 4
2021-08-13T00:49:30.951Z,1628815770.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 349.196126 deg,
      approachRate: -0.534366 m/s,
      LOS rate: 1.340657 deg/s,
      cmd update: 4.021972 deg/s,
      cmd heading: 334.982229 deg,
      new cmd heading: 335.586936 deg.

2021-08-13T00:49:33.314Z,1628815773.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:33.689Z,1628815773.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:33.689Z,1628815773.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:33.689Z,1628815773.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:33.690Z,1628815773.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:34.093Z,1628815774.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,0032D,187,80,80,C0,FF
2021-08-13T00:49:34.093Z,1628815774.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:34.093Z,1628815774.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:34.095Z,1628815774.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:34.497Z,1628815774.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:34.901Z,1628815774.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00306,186,80,80,AC,FF
2021-08-13T00:49:34.901Z,1628815774.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:34.959Z,1628815774.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:35.336Z,1628815775.336 [Micromodem](INFO): Nmea in: $SNTTA,0.005783,,,,004935.62*46

2021-08-13T00:49:35.366Z,1628815775.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 345.053152 deg, deltaT: 4.481839 s, approachRate: -0.522107 m/s, LOS rate: -0.924392 deg/s, posRepo size: 4
2021-08-13T00:49:35.368Z,1628815775.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 345.053152 deg,
      approachRate: -0.522107 m/s,
      LOS rate: -0.924392 deg/s,
      cmd update: -2.773175 deg/s,
      cmd heading: 353.007906 deg,
      new cmd heading: 354.656609 deg.

2021-08-13T00:49:37.739Z,1628815777.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:38.121Z,1628815778.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:38.121Z,1628815778.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:38.121Z,1628815778.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:38.122Z,1628815778.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:38.533Z,1628815778.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00306,186,80,80,AC,FF
2021-08-13T00:49:38.533Z,1628815778.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:38.534Z,1628815778.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:38.535Z,1628815778.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:38.936Z,1628815778.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:39.341Z,1628815779.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,002E3,183,80,80,B3,FF
2021-08-13T00:49:39.341Z,1628815779.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:39.362Z,1628815779.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:39.809Z,1628815779.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004940.06*51

2021-08-13T00:49:39.897Z,1628815779.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 352.119065 deg, deltaT: 4.403277 s, approachRate: -0.476917 m/s, LOS rate: 1.604694 deg/s, posRepo size: 4
2021-08-13T00:49:39.915Z,1628815779.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 352.119065 deg,
      approachRate: -0.476917 m/s,
      LOS rate: 1.604694 deg/s,
      cmd update: 4.814083 deg/s,
      cmd heading: 340.797210 deg,
      new cmd heading: 339.353476 deg.

2021-08-13T00:49:41.880Z,1628815781.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:42.173Z,1628815782.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:42.173Z,1628815782.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:42.173Z,1628815782.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:42.174Z,1628815782.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:42.574Z,1628815782.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,002E3,183,80,80,B3,FF
2021-08-13T00:49:42.574Z,1628815782.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:42.574Z,1628815782.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:42.576Z,1628815782.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:42.980Z,1628815782.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:43.382Z,1628815783.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002CA,187,80,80,78,FF
2021-08-13T00:49:43.382Z,1628815783.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:43.402Z,1628815783.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:43.825Z,1628815783.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004944.10*52

2021-08-13T00:49:43.936Z,1628815783.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 359.953264 deg, deltaT: 4.039957 s, approachRate: -0.371291 m/s, LOS rate: 1.939179 deg/s, posRepo size: 4
2021-08-13T00:49:43.938Z,1628815783.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 359.953264 deg,
      approachRate: -0.371291 m/s,
      LOS rate: 1.939179 deg/s,
      cmd update: 5.817537 deg/s,
      cmd heading: 0.246691 deg,
      new cmd heading: 2.810026 deg.

2021-08-13T00:49:45.951Z,1628815785.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:46.229Z,1628815786.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:46.229Z,1628815786.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:46.229Z,1628815786.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:46.230Z,1628815786.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:46.609Z,1628815786.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002CA,187,80,80,78,FF
2021-08-13T00:49:46.609Z,1628815786.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:46.609Z,1628815786.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:46.611Z,1628815786.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:47.017Z,1628815787.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:47.421Z,1628815787.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,002BE,189,80,80,49,FF
2021-08-13T00:49:47.421Z,1628815787.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:47.442Z,1628815787.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:47.886Z,1628815787.886 [Micromodem](INFO): Nmea in: $SNTTA,0.025346,,,,004948.14*42

2021-08-13T00:49:47.954Z,1628815787.954 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T00:49:47.954Z,1628815787.954 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:49:47.954Z,1628815787.954 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T00:49:47.955Z,1628815787.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:49:47.955Z,1628815787.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T00:49:47.955Z,1628815787.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-08-13T00:49:47.955Z,1628815787.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T00:49:47.955Z,1628815787.955 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T00:49:47.960Z,1628815787.960 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T00:49:47.962Z,1628815787.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 32.860009 deg, deltaT: 4.039247 s, approachRate: -0.178251 m/s, LOS rate: 8.146753 deg/s, posRepo size: 4
2021-08-13T00:49:47.969Z,1628815787.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 32.860009 deg,
      approachRate: -0.178251 m/s,
      LOS rate: 8.146753 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 23.745114 deg,
      new cmd heading: 26.793078 deg.

2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T004948: (41.552319, -70.708603)
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T00:49:48.285Z,1628815788.285 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T00:49:48.286Z,1628815788.286 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:49:48.657Z,1628815788.657 [UniversalFixResidualReporter](INFO): Fix residual: 2.2 %DT, over the last 1472.3 m. Residual distance 32.9 m at bearing 113.1 degrees. Fix at (41.5540, -70.7048) with 0.0 m made good.
2021-08-13T00:49:49.954Z,1628815789.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:50.253Z,1628815790.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:50.253Z,1628815790.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:50.253Z,1628815790.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:50.254Z,1628815790.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:50.649Z,1628815790.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,002BE,189,80,80,49,FF
2021-08-13T00:49:50.649Z,1628815790.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:50.649Z,1628815790.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:50.651Z,1628815790.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:51.056Z,1628815791.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:51.461Z,1628815791.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002C5,186,80,80,B8,FF
2021-08-13T00:49:51.462Z,1628815791.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:51.482Z,1628815791.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:51.929Z,1628815791.929 [Micromodem](INFO): Nmea in: $SNTTA,0.029225,,,,004952.18*4D

2021-08-13T00:49:51.992Z,1628815791.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 8.364963 deg, deltaT: 4.040566 s, approachRate: 0.103946 m/s, LOS rate: -6.062281 deg/s, posRepo size: 4
2021-08-13T00:49:51.994Z,1628815791.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 8.364963 deg,
      approachRate: 0.103946 m/s,
      LOS rate: -6.062281 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 72.230743 deg,
      new cmd heading: 78.388195 deg.

2021-08-13T00:49:53.989Z,1628815793.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:54.293Z,1628815794.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:54.294Z,1628815794.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:54.294Z,1628815794.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:54.295Z,1628815794.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:54.696Z,1628815794.696 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002C5,186,80,80,B8,FF
2021-08-13T00:49:54.696Z,1628815794.696 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:54.697Z,1628815794.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:54.698Z,1628815794.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:55.097Z,1628815795.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:55.501Z,1628815795.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,0030B,185,80,80,70,FF
2021-08-13T00:49:55.501Z,1628815795.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:55.521Z,1628815795.521 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:49:55.985Z,1628815795.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004956.22*50

2021-08-13T00:49:56.070Z,1628815796.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 20.353796 deg, deltaT: 4.039306 s, approachRate: 1.039783 m/s, LOS rate: 2.968043 deg/s, posRepo size: 4
2021-08-13T00:49:56.077Z,1628815796.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 20.353796 deg,
      approachRate: 1.039783 m/s,
      LOS rate: 2.968043 deg/s,
      cmd update: 8.904128 deg/s,
      cmd heading: 23.757797 deg,
      new cmd heading: 17.131769 deg.

2021-08-13T00:49:58.049Z,1628815798.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:49:58.341Z,1628815798.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:49:58.342Z,1628815798.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:49:58.342Z,1628815798.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:49:58.343Z,1628815798.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:49:58.737Z,1628815798.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,0030B,185,80,80,70,FF
2021-08-13T00:49:58.738Z,1628815798.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:49:58.738Z,1628815798.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:49:58.743Z,1628815798.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:49:59.144Z,1628815799.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:49:59.541Z,1628815799.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00321,186,80,80,45,FF
2021-08-13T00:49:59.541Z,1628815799.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:49:59.590Z,1628815799.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:00.009Z,1628815800.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005000.27*5E

2021-08-13T00:50:00.095Z,1628815800.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 45.723175 deg, deltaT: 4.068167 s, approachRate: 0.324470 m/s, LOS rate: 6.236071 deg/s, posRepo size: 4
2021-08-13T00:50:00.101Z,1628815800.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 45.723175 deg,
      approachRate: 0.324470 m/s,
      LOS rate: 6.236071 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 59.981074 deg,
      new cmd heading: 64.507861 deg.

2021-08-13T00:50:02.388Z,1628815802.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:02.797Z,1628815802.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:02.797Z,1628815802.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:02.798Z,1628815802.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:02.799Z,1628815802.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:03.178Z,1628815803.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00321,186,80,80,45,FF
2021-08-13T00:50:03.178Z,1628815803.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:03.178Z,1628815803.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:03.180Z,1628815803.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:03.593Z,1628815803.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:03.997Z,1628815803.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,0031C,187,80,80,AD,FF
2021-08-13T00:50:03.997Z,1628815803.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:04.083Z,1628815804.083 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:04.426Z,1628815804.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005004.71*59

2021-08-13T00:50:04.442Z,1628815804.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 73.602870 deg, deltaT: 4.493442 s, approachRate: -0.066764 m/s, LOS rate: 6.204530 deg/s, posRepo size: 4
2021-08-13T00:50:04.444Z,1628815804.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 73.602870 deg,
      approachRate: -0.066764 m/s,
      LOS rate: 6.204530 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 113.880443 deg,
      new cmd heading: 118.244231 deg.

2021-08-13T00:50:06.894Z,1628815806.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:07.229Z,1628815807.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:07.229Z,1628815807.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:07.229Z,1628815807.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:07.230Z,1628815807.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:07.621Z,1628815807.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,0031C,187,80,80,AD,FF
2021-08-13T00:50:07.621Z,1628815807.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:07.621Z,1628815807.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:07.623Z,1628815807.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:08.048Z,1628815808.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:08.429Z,1628815808.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00357,186,80,80,54,FF
2021-08-13T00:50:08.429Z,1628815808.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:08.478Z,1628815808.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:08.885Z,1628815808.885 [Micromodem](INFO): Nmea in: $SNTTA,0.030238,,,,005009.15*42

2021-08-13T00:50:08.952Z,1628815808.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 82.503788 deg, deltaT: 4.394568 s, approachRate: 0.805540 m/s, LOS rate: 2.025436 deg/s, posRepo size: 4
2021-08-13T00:50:08.954Z,1628815808.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 82.503788 deg,
      approachRate: 0.805540 m/s,
      LOS rate: 2.025436 deg/s,
      cmd update: 6.076310 deg/s,
      cmd heading: 166.589089 deg,
      new cmd heading: 172.319197 deg.

2021-08-13T00:50:11.287Z,1628815811.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:11.661Z,1628815811.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:11.661Z,1628815811.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:11.661Z,1628815811.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:11.662Z,1628815811.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:12.073Z,1628815812.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00357,186,80,80,54,FF
2021-08-13T00:50:12.074Z,1628815812.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:12.074Z,1628815812.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:12.077Z,1628815812.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:12.478Z,1628815812.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:12.897Z,1628815812.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,00362,189,80,80,66,FF
2021-08-13T00:50:12.897Z,1628815812.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:12.948Z,1628815812.948 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:13.313Z,1628815813.313 [Micromodem](INFO): Nmea in: $SNTTA,0.053568,,,,005013.60*4C

2021-08-13T00:50:13.336Z,1628815813.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 118.403105 deg, deltaT: 4.470579 s, approachRate: 0.147631 m/s, LOS rate: 8.030127 deg/s, posRepo size: 4
2021-08-13T00:50:13.338Z,1628815813.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 118.403105 deg,
      approachRate: 0.147631 m/s,
      LOS rate: 8.030127 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 193.675217 deg,
      new cmd heading: 196.150086 deg.

2021-08-13T00:50:15.719Z,1628815815.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:16.105Z,1628815816.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:16.105Z,1628815816.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:16.106Z,1628815816.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:16.106Z,1628815816.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:16.509Z,1628815816.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,00362,189,80,80,66,FF
2021-08-13T00:50:16.509Z,1628815816.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:16.509Z,1628815816.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:16.511Z,1628815816.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:16.923Z,1628815816.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:17.317Z,1628815817.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,0036C,186,80,80,A1,FF
2021-08-13T00:50:17.318Z,1628815817.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:17.328Z,1628815817.328 [PowerOnly](INFO): Powering down loadControl
2021-08-13T00:50:17.359Z,1628815817.359 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:17.769Z,1628815817.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005018.04*56

2021-08-13T00:50:17.833Z,1628815817.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.059998 m, bearing: 131.813376 deg, deltaT: 4.410650 s, approachRate: 0.136034 m/s, LOS rate: 3.040429 deg/s, posRepo size: 4
2021-08-13T00:50:17.835Z,1628815817.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 131.813376 deg,
      approachRate: 0.136034 m/s,
      LOS rate: 3.040429 deg/s,
      cmd update: 9.121288 deg/s,
      cmd heading: 246.756727 deg,
      new cmd heading: 252.481519 deg.

2021-08-13T00:50:20.236Z,1628815820.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:20.560Z,1628815820.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:20.560Z,1628815820.560 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:20.560Z,1628815820.560 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:20.561Z,1628815820.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:20.953Z,1628815820.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,0036C,186,80,80,A1,FF
2021-08-13T00:50:20.954Z,1628815820.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:20.954Z,1628815820.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:20.955Z,1628815820.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:21.357Z,1628815821.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:21.761Z,1628815821.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB4,000,0037D,189,80,80,AD,FF
2021-08-13T00:50:21.761Z,1628815821.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:21.853Z,1628815821.853 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:22.201Z,1628815822.201 [Micromodem](INFO): Nmea in: $SNTTA,0.405478,,,,005022.48*43

2021-08-13T00:50:22.293Z,1628815822.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 157.595181 deg, deltaT: 4.494827 s, approachRate: 0.226927 m/s, LOS rate: 5.735884 deg/s, posRepo size: 4
2021-08-13T00:50:22.295Z,1628815822.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 157.595181 deg,
      approachRate: 0.226927 m/s,
      LOS rate: 5.735884 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.609152 deg,
      new cmd heading: 291.824099 deg.

2021-08-13T00:50:24.627Z,1628815824.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:24.994Z,1628815824.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:24.994Z,1628815824.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:24.995Z,1628815824.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:24.996Z,1628815824.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:25.405Z,1628815825.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB4,000,0037D,189,80,80,AD,FF
2021-08-13T00:50:25.406Z,1628815825.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:25.406Z,1628815825.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:25.407Z,1628815825.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:25.833Z,1628815825.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:26.213Z,1628815826.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00384,186,80,80,51,FF
2021-08-13T00:50:26.213Z,1628815826.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:26.278Z,1628815826.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:26.637Z,1628815826.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005026.94*52

2021-08-13T00:50:26.702Z,1628815826.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 121.449889 deg, deltaT: 4.424783 s, approachRate: 0.094920 m/s, LOS rate: -8.168829 deg/s, posRepo size: 4
2021-08-13T00:50:26.705Z,1628815826.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 121.449889 deg,
      approachRate: 0.094920 m/s,
      LOS rate: -8.168829 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 340.944870 deg,
      new cmd heading: 346.050966 deg.

2021-08-13T00:50:29.087Z,1628815829.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:29.437Z,1628815829.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:29.437Z,1628815829.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:29.437Z,1628815829.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:29.438Z,1628815829.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:29.869Z,1628815829.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00384,186,80,80,51,FF
2021-08-13T00:50:29.870Z,1628815829.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:29.870Z,1628815829.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:29.885Z,1628815829.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:30.261Z,1628815830.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:30.658Z,1628815830.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,0038C,186,80,80,77,FF
2021-08-13T00:50:30.658Z,1628815830.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:30.683Z,1628815830.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:31.098Z,1628815831.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 132.913132 deg, deltaT: 4.404320 s, approachRate: 0.108985 m/s, LOS rate: 2.602727 deg/s, posRepo size: 4
2021-08-13T00:50:31.100Z,1628815831.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.980001 m,
      bearing: 132.913132 deg,
      approachRate: 0.108985 m/s,
      LOS rate: 2.602727 deg/s,
      cmd update: 7.808181 deg/s,
      cmd heading: 288.091240 deg,
      new cmd heading: 283.073488 deg.

2021-08-13T00:50:33.514Z,1628815833.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:33.920Z,1628815833.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:33.921Z,1628815833.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:33.921Z,1628815833.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:33.922Z,1628815833.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:34.293Z,1628815834.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,0038C,186,80,80,77,FF
2021-08-13T00:50:34.293Z,1628815834.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:34.293Z,1628815834.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:34.295Z,1628815834.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:34.705Z,1628815834.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:35.093Z,1628815835.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,003A1,186,80,80,87,FF
2021-08-13T00:50:35.093Z,1628815835.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:35.147Z,1628815835.147 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:35.538Z,1628815835.538 [Micromodem](INFO): Nmea in: $SNTTA,0.033854,,,,005035.82*40

2021-08-13T00:50:35.560Z,1628815835.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 171.166808 deg, deltaT: 4.468966 s, approachRate: 0.281944 m/s, LOS rate: 8.559849 deg/s, posRepo size: 4
2021-08-13T00:50:35.562Z,1628815835.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 171.166808 deg,
      approachRate: 0.281944 m/s,
      LOS rate: 8.559849 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 322.922832 deg,
      new cmd heading: 326.194538 deg.

2021-08-13T00:50:38.046Z,1628815838.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:38.333Z,1628815838.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:38.333Z,1628815838.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:38.333Z,1628815838.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:38.334Z,1628815838.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:38.817Z,1628815838.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,003A1,186,80,80,87,FF
2021-08-13T00:50:38.817Z,1628815838.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:38.817Z,1628815838.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:38.819Z,1628815838.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:39.141Z,1628815839.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:39.552Z,1628815839.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,003B4,188,80,80,91,FF
2021-08-13T00:50:39.553Z,1628815839.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:39.573Z,1628815839.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:39.983Z,1628815839.983 [Micromodem](INFO): Nmea in: $SNTTA,0.041220,0.472462,,,005040.35*5D

2021-08-13T00:50:40.048Z,1628815840.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 186.895450 deg, deltaT: 4.421086 s, approachRate: 0.257854 m/s, LOS rate: 3.557642 deg/s, posRepo size: 4
2021-08-13T00:50:40.051Z,1628815840.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 186.895450 deg,
      approachRate: 0.257854 m/s,
      LOS rate: 3.557642 deg/s,
      cmd update: 10.672926 deg/s,
      cmd heading: 16.074050 deg,
      new cmd heading: 21.814358 deg.

2021-08-13T00:50:42.391Z,1628815842.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:42.772Z,1628815842.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:42.773Z,1628815842.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:42.773Z,1628815842.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:42.775Z,1628815842.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:43.173Z,1628815843.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,003B4,188,80,80,91,FF
2021-08-13T00:50:43.173Z,1628815843.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:43.173Z,1628815843.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:43.175Z,1628815843.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:43.581Z,1628815843.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:43.985Z,1628815843.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,003CD,18A,80,80,88,FF
2021-08-13T00:50:43.985Z,1628815843.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:44.105Z,1628815844.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:44.421Z,1628815844.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005044.70*5C

2021-08-13T00:50:44.448Z,1628815844.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 176.189183 deg, deltaT: 4.532663 s, approachRate: 0.330932 m/s, LOS rate: -2.362026 deg/s, posRepo size: 4
2021-08-13T00:50:44.450Z,1628815844.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.879999 m,
      bearing: 176.189183 deg,
      approachRate: 0.330932 m/s,
      LOS rate: -2.362026 deg/s,
      cmd update: -7.086078 deg/s,
      cmd heading: 64.284597 deg,
      new cmd heading: 68.136157 deg.

2021-08-13T00:50:46.896Z,1628815846.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:47.213Z,1628815847.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:47.213Z,1628815847.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:47.213Z,1628815847.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:47.214Z,1628815847.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:47.617Z,1628815847.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,003CD,18A,80,80,88,FF
2021-08-13T00:50:47.617Z,1628815847.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:47.617Z,1628815847.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:47.619Z,1628815847.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:48.034Z,1628815848.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:48.425Z,1628815848.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,003F6,186,80,80,67,FF
2021-08-13T00:50:48.425Z,1628815848.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:48.477Z,1628815848.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:48.877Z,1628815848.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005049.15*52

2021-08-13T00:50:48.903Z,1628815848.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 146.558716 deg, deltaT: 4.371531 s, approachRate: 0.562732 m/s, LOS rate: -6.778053 deg/s, posRepo size: 4
2021-08-13T00:50:48.924Z,1628815848.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 23.34 m. Rolling out.
2021-08-13T00:50:48.924Z,1628815848.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:50:51.297Z,1628815851.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:51.661Z,1628815851.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:51.661Z,1628815851.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:51.661Z,1628815851.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:51.662Z,1628815851.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:52.061Z,1628815852.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,003F6,186,80,80,67,FF
2021-08-13T00:50:52.061Z,1628815852.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:52.061Z,1628815852.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:52.063Z,1628815852.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:52.473Z,1628815852.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:53.306Z,1628815853.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005053.59*51

2021-08-13T00:50:54.166Z,1628815854.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:55.706Z,1628815855.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,67,FF
2021-08-13T00:50:55.706Z,1628815855.706 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,67,FF
2021-08-13T00:50:55.706Z,1628815855.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:50:56.945Z,1628815856.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:50:57.328Z,1628815857.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:50:57.328Z,1628815857.328 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:50:57.328Z,1628815857.328 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:50:57.329Z,1628815857.329 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:50:57.725Z,1628815857.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,67,FF
2021-08-13T00:50:57.725Z,1628815857.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:50:57.725Z,1628815857.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:50:57.727Z,1628815857.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:50:58.124Z,1628815858.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:50:58.525Z,1628815858.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,324,000,0045E,189,80,80,2E,FF
2021-08-13T00:50:58.526Z,1628815858.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:50:58.546Z,1628815858.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:50:58.965Z,1628815858.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005059.25*50

2021-08-13T00:50:59.017Z,1628815859.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 56.590351 deg, deltaT: 10.068804 s, approachRate: 0.619736 m/s, LOS rate: -8.935358 deg/s, posRepo size: 4
2021-08-13T00:51:01.386Z,1628815861.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:01.767Z,1628815861.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:01.768Z,1628815861.768 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:01.769Z,1628815861.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:01.771Z,1628815861.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:02.173Z,1628815862.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
324,000,0045E,189,80,80,2E,FF
2021-08-13T00:51:02.173Z,1628815862.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:02.173Z,1628815862.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:02.175Z,1628815862.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:02.593Z,1628815862.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:03.411Z,1628815863.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005103.70*5E

2021-08-13T00:51:04.258Z,1628815864.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:05.829Z,1628815865.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,2E,FF
2021-08-13T00:51:05.830Z,1628815865.830 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,2E,FF
2021-08-13T00:51:05.830Z,1628815865.830 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:51:07.056Z,1628815867.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:07.425Z,1628815867.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:07.425Z,1628815867.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:07.425Z,1628815867.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:07.426Z,1628815867.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:07.850Z,1628815867.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,2E,FF
2021-08-13T00:51:07.850Z,1628815867.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:07.850Z,1628815867.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:07.853Z,1628815867.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:08.241Z,1628815868.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:08.634Z,1628815868.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,004B8,189,80,80,4D,FF
2021-08-13T00:51:08.635Z,1628815868.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:08.654Z,1628815868.654 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:51:09.073Z,1628815869.073 [Micromodem](INFO): Nmea in: $SNTTA,0.055660,,,,005109.38*46

2021-08-13T00:51:09.119Z,1628815869.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 15.762637 deg, deltaT: 10.108601 s, approachRate: 0.534198 m/s, LOS rate: -4.038909 deg/s, posRepo size: 4
2021-08-13T00:51:11.486Z,1628815871.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:11.882Z,1628815871.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:11.882Z,1628815871.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:11.882Z,1628815871.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:11.888Z,1628815871.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:12.278Z,1628815872.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,004B8,189,80,80,4D,FF
2021-08-13T00:51:12.278Z,1628815872.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:12.278Z,1628815872.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:12.280Z,1628815872.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:12.669Z,1628815872.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:13.093Z,1628815873.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,004D7,186,80,80,54,FF
2021-08-13T00:51:13.094Z,1628815873.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:13.136Z,1628815873.136 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:51:13.510Z,1628815873.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005113.81*51

2021-08-13T00:51:13.528Z,1628815873.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 60.871875 deg, deltaT: 4.481562 s, approachRate: 0.415034 m/s, LOS rate: 10.065517 deg/s, posRepo size: 4
2021-08-13T00:51:16.085Z,1628815876.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:16.306Z,1628815876.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:16.306Z,1628815876.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:16.306Z,1628815876.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:16.307Z,1628815876.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:16.713Z,1628815876.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,004D7,186,80,80,54,FF
2021-08-13T00:51:16.713Z,1628815876.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:16.713Z,1628815876.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:16.715Z,1628815876.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:17.120Z,1628815877.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:17.521Z,1628815877.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,004EC,185,80,80,86,FF
2021-08-13T00:51:17.521Z,1628815877.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:17.541Z,1628815877.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:51:17.985Z,1628815877.985 [Micromodem](INFO): Nmea in: $SNTTA,0.052282,,,,005118.24*44

2021-08-13T00:51:18.052Z,1628815878.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 16.530279 deg, deltaT: 4.404794 s, approachRate: 0.286052 m/s, LOS rate: -10.066667 deg/s, posRepo size: 4
2021-08-13T00:51:20.007Z,1628815880.007 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:51:20.395Z,1628815880.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:20.757Z,1628815880.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:20.757Z,1628815880.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:20.757Z,1628815880.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:20.758Z,1628815880.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:21.155Z,1628815881.155 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,004EC,185,80,80,86,FF
2021-08-13T00:51:21.155Z,1628815881.155 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:21.155Z,1628815881.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:21.158Z,1628815881.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:21.561Z,1628815881.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:22.036Z,1628815882.036 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T00:51:22.036Z,1628815882.036 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T00:51:22.036Z,1628815882.036 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T00:51:22.269Z,1628815882.269 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T00:51:22.390Z,1628815882.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005122.69*55

2021-08-13T00:51:22.460Z,1628815882.460 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T00:51:23.187Z,1628815883.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:23.272Z,1628815883.272 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T00:51:23.272Z,1628815883.272 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T00:51:24.789Z,1628815884.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,185,80,80,86,FF
2021-08-13T00:51:24.789Z,1628815884.789 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,185,80,80,86,FF
2021-08-13T00:51:24.789Z,1628815884.789 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:51:26.055Z,1628815886.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:26.409Z,1628815886.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:26.409Z,1628815886.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:26.409Z,1628815886.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:26.410Z,1628815886.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:26.813Z,1628815886.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,185,80,80,86,FF
2021-08-13T00:51:26.813Z,1628815886.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:26.813Z,1628815886.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:26.815Z,1628815886.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:27.236Z,1628815887.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:27.617Z,1628815887.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,0052B,189,80,80,89,FF
2021-08-13T00:51:27.617Z,1628815887.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:27.670Z,1628815887.670 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:51:28.058Z,1628815888.058 [Micromodem](INFO): Nmea in: $SNTTA,0.475212,0.474837,,,005128.34*5B

2021-08-13T00:51:28.093Z,1628815888.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.879997 m, bearing: 359.086049 deg, deltaT: 10.130015 s, approachRate: 0.373148 m/s, LOS rate: -1.722035 deg/s, posRepo size: 4
2021-08-13T00:51:28.457Z,1628815888.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:51:28.457Z,1628815888.457 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:51:28.458Z,1628815888.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:51:28.458Z,1628815888.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:51:28.458Z,1628815888.458 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:51:28.459Z,1628815888.459 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:51:28.863Z,1628815888.863 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:51:28.863Z,1628815888.863 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:51:28.864Z,1628815888.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:51:28.864Z,1628815888.864 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:51:30.491Z,1628815890.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:30.854Z,1628815890.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:30.854Z,1628815890.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:30.854Z,1628815890.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:30.855Z,1628815890.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:31.271Z,1628815891.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,0052B,189,80,80,89,FF
2021-08-13T00:51:31.271Z,1628815891.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:31.272Z,1628815891.272 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:31.274Z,1628815891.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:31.664Z,1628815891.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:32.061Z,1628815892.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,0054B,189,80,80,7F,FF
2021-08-13T00:51:32.061Z,1628815892.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:32.065Z,1628815892.065 [Micromodem](INFO): Nmea in: $SNTTA,0.048948,0.205742,,,005132.80*5C

2021-08-13T00:51:32.504Z,1628815892.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 356.729852 deg, deltaT: 4.452159 s, approachRate: 0.431252 m/s, LOS rate: -0.529226 deg/s, posRepo size: 4
2021-08-13T00:51:34.919Z,1628815894.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:35.303Z,1628815895.303 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:35.303Z,1628815895.303 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:35.303Z,1628815895.303 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:35.304Z,1628815895.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:35.697Z,1628815895.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
309,000,0054B,189,80,80,7F,FF
2021-08-13T00:51:35.697Z,1628815895.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:35.697Z,1628815895.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:35.699Z,1628815895.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:36.105Z,1628815896.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:36.509Z,1628815896.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,0056C,189,80,80,A9,FF
2021-08-13T00:51:36.509Z,1628815896.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:36.945Z,1628815896.945 [Micromodem](INFO): Nmea in: $SNTTA,0.049142,,,,005137.22*4A

2021-08-13T00:51:36.985Z,1628815896.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 358.918982 deg, deltaT: 4.405913 s, approachRate: 0.449397 m/s, LOS rate: 0.496862 deg/s, posRepo size: 4
2021-08-13T00:51:39.379Z,1628815899.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:39.745Z,1628815899.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:39.745Z,1628815899.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:39.745Z,1628815899.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:39.746Z,1628815899.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:40.149Z,1628815900.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,0056C,189,80,80,A9,FF
2021-08-13T00:51:40.149Z,1628815900.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:40.149Z,1628815900.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:40.151Z,1628815900.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:40.572Z,1628815900.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:40.957Z,1628815900.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,00596,189,80,80,69,FF
2021-08-13T00:51:40.957Z,1628815900.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:41.425Z,1628815901.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005141.68*51

2021-08-13T00:51:41.472Z,1628815901.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 350.151970 deg, deltaT: 4.489790 s, approachRate: 0.561274 m/s, LOS rate: -1.952655 deg/s, posRepo size: 4
2021-08-13T00:51:43.824Z,1628815903.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:44.193Z,1628815904.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:44.193Z,1628815904.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:44.193Z,1628815904.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:44.194Z,1628815904.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:44.613Z,1628815904.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,00596,189,80,80,69,FF
2021-08-13T00:51:44.613Z,1628815904.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:44.613Z,1628815904.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:44.615Z,1628815904.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:45.006Z,1628815905.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:45.409Z,1628815905.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,005B8,189,80,80,77,FF
2021-08-13T00:51:45.410Z,1628815905.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:45.833Z,1628815905.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005146.15*5C

2021-08-13T00:51:45.935Z,1628815905.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 348.683917 deg, deltaT: 4.410013 s, approachRate: 0.462583 m/s, LOS rate: -0.332891 deg/s, posRepo size: 4
2021-08-13T00:51:47.934Z,1628815907.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:48.229Z,1628815908.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:48.229Z,1628815908.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:48.230Z,1628815908.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:48.230Z,1628815908.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:48.640Z,1628815908.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,005B8,189,80,80,77,FF
2021-08-13T00:51:48.640Z,1628815908.640 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:48.640Z,1628815908.640 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:48.642Z,1628815908.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:49.045Z,1628815909.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:49.437Z,1628815909.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,005D9,188,80,80,AC,FF
2021-08-13T00:51:49.437Z,1628815909.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:49.886Z,1628815909.886 [Micromodem](INFO): Nmea in: $SNTTA,0.046368,,,,005150.23*4F

2021-08-13T00:51:49.923Z,1628815909.923 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:51:49.958Z,1628815909.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 356.665293 deg, deltaT: 4.045312 s, approachRate: 0.489454 m/s, LOS rate: 1.972994 deg/s, posRepo size: 4
2021-08-13T00:51:52.323Z,1628815912.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:52.695Z,1628815912.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:52.695Z,1628815912.695 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:52.696Z,1628815912.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:52.697Z,1628815912.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:53.077Z,1628815913.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,005D9,188,80,80,AC,FF
2021-08-13T00:51:53.077Z,1628815913.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:53.077Z,1628815913.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:53.079Z,1628815913.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:53.484Z,1628815913.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:53.927Z,1628815913.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FA,000,003E0,18A,80,80,4F,FF
2021-08-13T00:51:53.927Z,1628815913.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:54.329Z,1628815914.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005154.61*5C

2021-08-13T00:51:54.374Z,1628815914.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 357.069968 deg, deltaT: 4.526840 s, approachRate: -6.693410 m/s, LOS rate: 0.089395 deg/s, posRepo size: 4
2021-08-13T00:51:54.755Z,1628815914.755 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:51:54.756Z,1628815914.756 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:51:54.756Z,1628815914.756 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:51:54.757Z,1628815914.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:51:54.757Z,1628815914.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:51:54.757Z,1628815914.757 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:51:55.140Z,1628815915.140 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:51:55.140Z,1628815915.140 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:51:55.140Z,1628815915.140 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:51:55.140Z,1628815915.140 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:51:56.772Z,1628815916.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:51:57.121Z,1628815917.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:51:57.121Z,1628815917.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:51:57.121Z,1628815917.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:51:57.122Z,1628815917.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:51:57.529Z,1628815917.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FA,000,003E0,18A,80,80,4F,FF
2021-08-13T00:51:57.530Z,1628815917.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:51:57.530Z,1628815917.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:51:57.531Z,1628815917.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:51:57.960Z,1628815917.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:51:58.341Z,1628815918.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,337,000,0062D,189,80,80,93,FF
2021-08-13T00:51:58.341Z,1628815918.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:51:58.388Z,1628815918.388 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:51:58.778Z,1628815918.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005159.06*50

2021-08-13T00:51:58.808Z,1628815918.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.360001 m, bearing: 353.157253 deg, deltaT: 4.387498 s, approachRate: 8.054705 m/s, LOS rate: -0.891787 deg/s, posRepo size: 4
2021-08-13T00:51:59.169Z,1628815919.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:51:59.169Z,1628815919.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:51:59.169Z,1628815919.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:51:59.170Z,1628815919.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:51:59.170Z,1628815919.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:51:59.170Z,1628815919.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:51:59.577Z,1628815919.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:51:59.577Z,1628815919.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:51:59.577Z,1628815919.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:51:59.578Z,1628815919.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:52:01.190Z,1628815921.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:01.561Z,1628815921.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:01.561Z,1628815921.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:01.561Z,1628815921.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:01.562Z,1628815921.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:01.973Z,1628815921.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
337,000,0062D,189,80,80,93,FF
2021-08-13T00:52:01.973Z,1628815921.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:01.973Z,1628815921.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:01.975Z,1628815921.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:02.377Z,1628815922.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:02.773Z,1628815922.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A4,000,00656,188,80,80,9F,FF
2021-08-13T00:52:02.773Z,1628815922.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:03.221Z,1628815923.221 [Micromodem](INFO): Nmea in: $SNTTA,0.064454,,,,005203.50*46

2021-08-13T00:52:03.244Z,1628815923.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 347.894046 deg, deltaT: 4.440279 s, approachRate: 0.554019 m/s, LOS rate: -1.185333 deg/s, posRepo size: 4
2021-08-13T00:52:05.631Z,1628815925.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:06.013Z,1628815926.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:06.013Z,1628815926.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:06.014Z,1628815926.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:06.015Z,1628815926.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:06.417Z,1628815926.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A4,000,00656,188,80,80,9F,FF
2021-08-13T00:52:06.417Z,1628815926.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:06.417Z,1628815926.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:06.419Z,1628815926.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:06.825Z,1628815926.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:07.217Z,1628815927.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,282,000,0067E,18A,80,80,72,FF
2021-08-13T00:52:07.217Z,1628815927.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:07.680Z,1628815927.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005207.94*53

2021-08-13T00:52:07.724Z,1628815927.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 2.634823 deg, deltaT: 4.440205 s, approachRate: 0.540518 m/s, LOS rate: 3.319839 deg/s, posRepo size: 4
2021-08-13T00:52:10.122Z,1628815930.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:10.463Z,1628815930.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:10.463Z,1628815930.463 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:10.463Z,1628815930.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:10.464Z,1628815930.464 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:10.862Z,1628815930.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
282,000,0067E,18A,80,80,72,FF
2021-08-13T00:52:10.862Z,1628815930.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:10.863Z,1628815930.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:10.865Z,1628815930.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:11.287Z,1628815931.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:11.685Z,1628815931.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,006A9,184,80,80,7F,FF
2021-08-13T00:52:11.686Z,1628815931.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:12.097Z,1628815932.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005212.39*50

2021-08-13T00:52:12.158Z,1628815932.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 39.141284 deg, deltaT: 4.491623 s, approachRate: 0.574401 m/s, LOS rate: 8.127677 deg/s, posRepo size: 4
2021-08-13T00:52:14.511Z,1628815934.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:14.914Z,1628815934.914 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:14.914Z,1628815934.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:14.914Z,1628815934.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:14.915Z,1628815934.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:15.305Z,1628815935.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,006A9,184,80,80,7F,FF
2021-08-13T00:52:15.305Z,1628815935.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:15.306Z,1628815935.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:15.307Z,1628815935.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:15.741Z,1628815935.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:16.109Z,1628815936.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,006D6,184,80,80,3A,FF
2021-08-13T00:52:16.109Z,1628815936.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:16.541Z,1628815936.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005216.84*52

2021-08-13T00:52:16.581Z,1628815936.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.500000 m, bearing: 29.978885 deg, deltaT: 4.414592 s, approachRate: 0.611607 m/s, LOS rate: -2.075480 deg/s, posRepo size: 4
2021-08-13T00:52:18.993Z,1628815938.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:19.341Z,1628815939.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:19.341Z,1628815939.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:19.341Z,1628815939.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:19.342Z,1628815939.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:19.746Z,1628815939.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,006D6,184,80,80,3A,FF
2021-08-13T00:52:19.746Z,1628815939.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:19.747Z,1628815939.747 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:19.750Z,1628815939.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:20.149Z,1628815940.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:20.570Z,1628815940.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,006FF,187,80,80,6E,FF
2021-08-13T00:52:20.570Z,1628815940.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:20.993Z,1628815940.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005221.28*50

2021-08-13T00:52:21.019Z,1628815941.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.959999 m, bearing: 41.734952 deg, deltaT: 4.425212 s, approachRate: 0.555905 m/s, LOS rate: 2.656611 deg/s, posRepo size: 4
2021-08-13T00:52:23.399Z,1628815943.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:23.777Z,1628815943.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:23.777Z,1628815943.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:23.778Z,1628815943.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:23.779Z,1628815943.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:24.191Z,1628815944.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,006FF,187,80,80,6E,FF
2021-08-13T00:52:24.191Z,1628815944.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:24.191Z,1628815944.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:24.193Z,1628815944.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:24.593Z,1628815944.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:25.002Z,1628815945.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00729,185,80,80,93,FF
2021-08-13T00:52:25.002Z,1628815945.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:25.425Z,1628815945.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005225.72*5B

2021-08-13T00:52:25.492Z,1628815945.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 48.349410 deg, deltaT: 4.463787 s, approachRate: 0.564544 m/s, LOS rate: 1.481804 deg/s, posRepo size: 4
2021-08-13T00:52:27.933Z,1628815947.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:28.225Z,1628815948.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:28.225Z,1628815948.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:28.225Z,1628815948.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:28.226Z,1628815948.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:28.639Z,1628815948.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00729,185,80,80,93,FF
2021-08-13T00:52:28.639Z,1628815948.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:28.639Z,1628815948.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:28.641Z,1628815948.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:29.036Z,1628815949.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:29.437Z,1628815949.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00756,185,80,80,45,FF
2021-08-13T00:52:29.437Z,1628815949.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:29.913Z,1628815949.913 [Micromodem](INFO): Nmea in: $SNTTA,0.065348,,,,005230.17*4E

2021-08-13T00:52:29.973Z,1628815949.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.180008 m, bearing: 37.187262 deg, deltaT: 4.393003 s, approachRate: 0.614615 m/s, LOS rate: -2.540892 deg/s, posRepo size: 4
2021-08-13T00:52:32.322Z,1628815952.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:32.677Z,1628815952.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:32.677Z,1628815952.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:32.678Z,1628815952.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:32.679Z,1628815952.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:33.081Z,1628815953.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00756,185,80,80,45,FF
2021-08-13T00:52:33.081Z,1628815953.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:33.082Z,1628815953.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:33.083Z,1628815953.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:33.481Z,1628815953.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:33.902Z,1628815953.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00777,186,80,80,B0,FF
2021-08-13T00:52:33.903Z,1628815953.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:34.302Z,1628815954.302 [Micromodem](INFO): Nmea in: $SNTTA,0.341235,0.340816,,,005234.61*53

2021-08-13T00:52:34.323Z,1628815954.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 45.675999 deg, deltaT: 4.560681 s, approachRate: 0.434145 m/s, LOS rate: 1.861287 deg/s, posRepo size: 4
2021-08-13T00:52:36.769Z,1628815956.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:37.121Z,1628815957.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:37.121Z,1628815957.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:37.121Z,1628815957.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:37.122Z,1628815957.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:37.523Z,1628815957.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00777,186,80,80,B0,FF
2021-08-13T00:52:37.523Z,1628815957.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:37.523Z,1628815957.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:37.525Z,1628815957.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:37.968Z,1628815957.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:38.325Z,1628815958.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,007AE,189,80,80,3C,FF
2021-08-13T00:52:38.325Z,1628815958.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:38.777Z,1628815958.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005239.05*56

2021-08-13T00:52:38.803Z,1628815958.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.459999 m, bearing: 339.409640 deg, deltaT: 4.327134 s, approachRate: 0.762628 m/s, LOS rate: -15.314143 deg/s, posRepo size: 4
2021-08-13T00:52:41.170Z,1628815961.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:41.565Z,1628815961.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:41.565Z,1628815961.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:41.565Z,1628815961.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:41.566Z,1628815961.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:41.981Z,1628815961.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
434,000,007AE,189,80,80,3C,FF
2021-08-13T00:52:41.981Z,1628815961.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:41.981Z,1628815961.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:41.983Z,1628815961.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:42.369Z,1628815962.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:42.770Z,1628815962.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,007E0,186,80,80,42,FF
2021-08-13T00:52:42.770Z,1628815962.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:43.197Z,1628815963.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005243.51*5A

2021-08-13T00:52:43.232Z,1628815963.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 22.278510 deg, deltaT: 4.479303 s, approachRate: 0.669749 m/s, LOS rate: 9.570435 deg/s, posRepo size: 4
2021-08-13T00:52:45.639Z,1628815965.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:46.001Z,1628815966.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:46.001Z,1628815966.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:46.001Z,1628815966.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:46.002Z,1628815966.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:46.409Z,1628815966.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,007E0,186,80,80,42,FF
2021-08-13T00:52:46.409Z,1628815966.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:46.409Z,1628815966.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:46.411Z,1628815966.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:46.823Z,1628815966.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:47.213Z,1628815967.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,0080A,186,80,80,85,FF
2021-08-13T00:52:47.213Z,1628815967.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:47.670Z,1628815967.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 43.721547 deg, deltaT: 4.441475 s, approachRate: 0.567377 m/s, LOS rate: 4.827909 deg/s, posRepo size: 4
2021-08-13T00:52:50.134Z,1628815970.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:50.453Z,1628815970.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:50.453Z,1628815970.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:50.453Z,1628815970.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:50.454Z,1628815970.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:50.854Z,1628815970.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,0080A,186,80,80,85,FF
2021-08-13T00:52:50.854Z,1628815970.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:50.854Z,1628815970.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:50.857Z,1628815970.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:51.260Z,1628815971.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:51.682Z,1628815971.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00836,187,80,80,8E,FF
2021-08-13T00:52:51.683Z,1628815971.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:52.097Z,1628815972.097 [Micromodem](INFO): Nmea in: $SNTTA,0.070434,0.452043,,,005252.39*54

2021-08-13T00:52:52.161Z,1628815972.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.620010 m, bearing: 39.698593 deg, deltaT: 4.483327 s, approachRate: 0.588852 m/s, LOS rate: -0.897315 deg/s, posRepo size: 4
2021-08-13T00:52:54.514Z,1628815974.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:54.901Z,1628815974.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:54.901Z,1628815974.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:54.901Z,1628815974.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:54.902Z,1628815974.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:55.309Z,1628815975.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00836,187,80,80,8E,FF
2021-08-13T00:52:55.309Z,1628815975.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:55.309Z,1628815975.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:55.311Z,1628815975.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:52:55.737Z,1628815975.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:52:56.113Z,1628815976.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00865,186,80,80,53,FF
2021-08-13T00:52:56.113Z,1628815976.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:52:56.545Z,1628815976.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005256.84*56

2021-08-13T00:52:56.575Z,1628815976.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 42.434797 deg, deltaT: 4.440381 s, approachRate: 0.635079 m/s, LOS rate: 0.616209 deg/s, posRepo size: 4
2021-08-13T00:52:58.961Z,1628815978.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:52:59.333Z,1628815979.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:52:59.333Z,1628815979.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:52:59.333Z,1628815979.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:52:59.334Z,1628815979.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:52:59.749Z,1628815979.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00865,186,80,80,53,FF
2021-08-13T00:52:59.749Z,1628815979.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:52:59.749Z,1628815979.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:52:59.751Z,1628815979.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:00.149Z,1628815980.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:00.550Z,1628815980.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CC,000,00893,189,80,80,72,FF
2021-08-13T00:53:00.550Z,1628815980.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:00.994Z,1628815980.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005301.28*53

2021-08-13T00:53:01.024Z,1628815981.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 331.801437 deg, deltaT: 4.399850 s, approachRate: 0.627295 m/s, LOS rate: -16.053583 deg/s, posRepo size: 4
2021-08-13T00:53:03.394Z,1628815983.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:03.789Z,1628815983.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:03.789Z,1628815983.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:03.789Z,1628815983.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:03.790Z,1628815983.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:04.191Z,1628815984.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CC,000,00893,189,80,80,72,FF
2021-08-13T00:53:04.191Z,1628815984.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:04.191Z,1628815984.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:04.193Z,1628815984.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:04.618Z,1628815984.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:05.005Z,1628815985.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BA,000,008C2,189,80,80,56,FF
2021-08-13T00:53:05.006Z,1628815985.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:05.446Z,1628815985.446 [Micromodem](INFO): Nmea in: $SNTTA,0.066967,,,,005305.72*4E

2021-08-13T00:53:05.467Z,1628815985.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.020004 m, bearing: 333.466938 deg, deltaT: 4.502622 s, approachRate: 0.626302 m/s, LOS rate: 0.369896 deg/s, posRepo size: 4
2021-08-13T00:53:07.939Z,1628815987.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:08.237Z,1628815988.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:08.237Z,1628815988.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:08.237Z,1628815988.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:08.238Z,1628815988.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:08.653Z,1628815988.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BA,000,008C2,189,80,80,56,FF
2021-08-13T00:53:08.653Z,1628815988.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:08.654Z,1628815988.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:08.655Z,1628815988.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:09.048Z,1628815989.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:09.893Z,1628815989.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005310.18*50

2021-08-13T00:53:10.733Z,1628815990.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:12.277Z,1628815992.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,56,FF
2021-08-13T00:53:12.277Z,1628815992.277 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,56,FF
2021-08-13T00:53:12.277Z,1628815992.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:53:13.524Z,1628815993.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:13.933Z,1628815993.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:13.933Z,1628815993.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:13.933Z,1628815993.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:13.934Z,1628815993.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:14.309Z,1628815994.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,56,FF
2021-08-13T00:53:14.309Z,1628815994.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:14.309Z,1628815994.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:14.311Z,1628815994.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:14.736Z,1628815994.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:15.119Z,1628815995.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00922,189,80,80,3A,FF
2021-08-13T00:53:15.119Z,1628815995.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:15.546Z,1628815995.546 [Micromodem](INFO): Nmea in: $SNTTA,,0.076859,,,005315.84*4B

2021-08-13T00:53:15.567Z,1628815995.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.780006 m, bearing: 330.029905 deg, deltaT: 10.089531 s, approachRate: 0.570889 m/s, LOS rate: -0.340653 deg/s, posRepo size: 4
2021-08-13T00:53:18.017Z,1628815998.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:18.338Z,1628815998.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:18.338Z,1628815998.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:18.338Z,1628815998.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:18.340Z,1628815998.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:18.745Z,1628815998.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00922,189,80,80,3A,FF
2021-08-13T00:53:18.745Z,1628815998.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:18.746Z,1628815998.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:18.747Z,1628815998.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:19.162Z,1628815999.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:19.549Z,1628815999.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6A,000,00953,186,80,80,7B,FF
2021-08-13T00:53:19.550Z,1628815999.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:20.005Z,1628816000.005 [Micromodem](INFO): Nmea in: $SNTTA,0.075160,,,,005320.27*44

2021-08-13T00:53:20.073Z,1628816000.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.720009 m, bearing: 55.073984 deg, deltaT: 4.464905 s, approachRate: 0.658469 m/s, LOS rate: 19.047229 deg/s, posRepo size: 4
2021-08-13T00:53:22.422Z,1628816002.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:22.781Z,1628816002.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:22.781Z,1628816002.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:22.781Z,1628816002.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:22.782Z,1628816002.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:23.195Z,1628816003.195 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6A,000,00953,186,80,80,7B,FF
2021-08-13T00:53:23.195Z,1628816003.195 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:23.195Z,1628816003.195 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:23.198Z,1628816003.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:23.601Z,1628816003.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:24.012Z,1628816004.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00986,189,80,80,44,FF
2021-08-13T00:53:24.013Z,1628816004.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:24.430Z,1628816004.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005324.73*5A

2021-08-13T00:53:24.452Z,1628816004.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 62.179904 deg, deltaT: 4.473881 s, approachRate: 0.683969 m/s, LOS rate: 1.588312 deg/s, posRepo size: 4
2021-08-13T00:53:26.894Z,1628816006.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:27.243Z,1628816007.243 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:27.243Z,1628816007.243 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:27.243Z,1628816007.243 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:27.244Z,1628816007.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:27.638Z,1628816007.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,00986,189,80,80,44,FF
2021-08-13T00:53:27.638Z,1628816007.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:27.639Z,1628816007.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:27.641Z,1628816007.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:28.045Z,1628816008.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:28.450Z,1628816008.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C98,000,009B3,189,80,80,62,FF
2021-08-13T00:53:28.451Z,1628816008.451 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:28.902Z,1628816008.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005329.17*55

2021-08-13T00:53:28.957Z,1628816008.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.480003 m, bearing: 75.807498 deg, deltaT: 4.354296 s, approachRate: 0.620077 m/s, LOS rate: 3.129689 deg/s, posRepo size: 4
2021-08-13T00:53:31.295Z,1628816011.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:31.691Z,1628816011.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:31.692Z,1628816011.692 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:31.692Z,1628816011.692 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:31.693Z,1628816011.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:32.085Z,1628816012.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C98,000,009B3,189,80,80,62,FF
2021-08-13T00:53:32.085Z,1628816012.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:32.085Z,1628816012.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:32.087Z,1628816012.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:32.488Z,1628816012.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:32.901Z,1628816012.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDA,000,009E2,189,80,80,43,FF
2021-08-13T00:53:32.902Z,1628816012.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:33.329Z,1628816013.329 [Micromodem](INFO): Nmea in: $SNTTA,0.078023,,,,005333.61*4F

2021-08-13T00:53:33.363Z,1628816013.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 74.539630 deg, deltaT: 4.493457 s, approachRate: 0.627579 m/s, LOS rate: -0.282159 deg/s, posRepo size: 4
2021-08-13T00:53:35.785Z,1628816015.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:36.126Z,1628816016.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:36.126Z,1628816016.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:36.126Z,1628816016.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:36.127Z,1628816016.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:36.525Z,1628816016.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDA,000,009E2,189,80,80,43,FF
2021-08-13T00:53:36.525Z,1628816016.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:36.525Z,1628816016.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:36.527Z,1628816016.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:36.929Z,1628816016.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:37.333Z,1628816017.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,00A12,189,80,80,78,FF
2021-08-13T00:53:37.333Z,1628816017.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:37.779Z,1628816017.779 [Micromodem](INFO): Nmea in: $SNTTA,0.079929,,,,005338.05*44

2021-08-13T00:53:37.810Z,1628816017.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 62.701724 deg, deltaT: 4.385457 s, approachRate: 0.656715 m/s, LOS rate: -2.699355 deg/s, posRepo size: 4
2021-08-13T00:53:40.201Z,1628816020.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:40.561Z,1628816020.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:40.561Z,1628816020.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:40.561Z,1628816020.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:40.562Z,1628816020.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:40.973Z,1628816020.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,00A12,189,80,80,78,FF
2021-08-13T00:53:40.973Z,1628816020.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:40.973Z,1628816020.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:40.975Z,1628816020.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:41.377Z,1628816021.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:41.777Z,1628816021.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00A42,186,80,80,86,FF
2021-08-13T00:53:41.777Z,1628816021.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:42.209Z,1628816022.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005342.50*5B

2021-08-13T00:53:42.269Z,1628816022.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.059998 m, bearing: 60.206027 deg, deltaT: 4.487680 s, approachRate: 0.641756 m/s, LOS rate: -0.556122 deg/s, posRepo size: 4
2021-08-13T00:53:44.626Z,1628816024.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:45.009Z,1628816025.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:45.009Z,1628816025.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:45.009Z,1628816025.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:45.010Z,1628816025.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:45.417Z,1628816025.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00A42,186,80,80,86,FF
2021-08-13T00:53:45.418Z,1628816025.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:45.418Z,1628816025.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:45.419Z,1628816025.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:45.817Z,1628816025.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:46.231Z,1628816026.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,00972,189,80,80,72,FF
2021-08-13T00:53:46.231Z,1628816026.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:46.669Z,1628816026.669 [Micromodem](INFO): Nmea in: $SNTTA,0.075849,,,,005346.94*4E

2021-08-13T00:53:46.721Z,1628816026.721 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:53:46.740Z,1628816026.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 63.028931 deg, deltaT: 4.429023 s, approachRate: -2.817775 m/s, LOS rate: 0.637365 deg/s, posRepo size: 4
2021-08-13T00:53:49.092Z,1628816029.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:49.449Z,1628816029.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:49.449Z,1628816029.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:49.449Z,1628816029.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:49.450Z,1628816029.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:49.886Z,1628816029.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,00972,189,80,80,72,FF
2021-08-13T00:53:49.887Z,1628816029.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:49.887Z,1628816029.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:49.902Z,1628816029.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:50.293Z,1628816030.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:50.713Z,1628816030.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,00AA1,187,80,80,74,FF
2021-08-13T00:53:50.713Z,1628816030.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:51.117Z,1628816031.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005351.43*5B

2021-08-13T00:53:51.139Z,1628816031.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.760010 m, bearing: 60.798403 deg, deltaT: 4.473731 s, approachRate: 4.063722 m/s, LOS rate: -0.498583 deg/s, posRepo size: 4
2021-08-13T00:53:53.542Z,1628816033.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:53.973Z,1628816033.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:53.973Z,1628816033.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:53.973Z,1628816033.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:53.974Z,1628816033.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:54.321Z,1628816034.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,00AA1,187,80,80,74,FF
2021-08-13T00:53:54.321Z,1628816034.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:54.321Z,1628816034.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:54.323Z,1628816034.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:54.751Z,1628816034.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:55.137Z,1628816035.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,00ACF,187,80,80,76,FF
2021-08-13T00:53:55.137Z,1628816035.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:53:55.565Z,1628816035.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005355.85*55

2021-08-13T00:53:55.603Z,1628816035.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.520004 m, bearing: 59.833038 deg, deltaT: 4.413458 s, approachRate: 0.625359 m/s, LOS rate: -0.218732 deg/s, posRepo size: 4
2021-08-13T00:53:58.031Z,1628816038.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:53:58.365Z,1628816038.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:53:58.365Z,1628816038.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:53:58.365Z,1628816038.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:53:58.366Z,1628816038.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:53:58.765Z,1628816038.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,00ACF,187,80,80,76,FF
2021-08-13T00:53:58.766Z,1628816038.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:53:58.766Z,1628816038.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:53:58.767Z,1628816038.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:53:59.173Z,1628816039.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:53:59.582Z,1628816039.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,00AFF,189,80,80,63,FF
2021-08-13T00:53:59.582Z,1628816039.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:00.017Z,1628816040.017 [Micromodem](INFO): Nmea in: $SNTTA,0.089402,,,,005400.30*45

2021-08-13T00:54:00.088Z,1628816040.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 61.752526 deg, deltaT: 4.469647 s, approachRate: 0.644344 m/s, LOS rate: 0.429450 deg/s, posRepo size: 4
2021-08-13T00:54:02.435Z,1628816042.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:02.809Z,1628816042.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:02.809Z,1628816042.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:02.809Z,1628816042.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:02.810Z,1628816042.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:03.209Z,1628816043.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,00AFF,189,80,80,63,FF
2021-08-13T00:54:03.209Z,1628816043.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:03.209Z,1628816043.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:03.211Z,1628816043.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:03.627Z,1628816043.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:04.025Z,1628816044.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,00B2C,188,80,80,7B,FF
2021-08-13T00:54:04.025Z,1628816044.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:04.458Z,1628816044.458 [Micromodem](INFO): Nmea in: $SNTTA,0.091267,,,,005404.74*4D

2021-08-13T00:54:04.480Z,1628816044.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.100006 m, bearing: 60.925390 deg, deltaT: 4.487649 s, approachRate: 0.601654 m/s, LOS rate: -0.184314 deg/s, posRepo size: 4
2021-08-13T00:54:06.909Z,1628816046.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:07.264Z,1628816047.264 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:07.264Z,1628816047.264 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:07.264Z,1628816047.264 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:07.265Z,1628816047.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:07.657Z,1628816047.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,00B2C,188,80,80,7B,FF
2021-08-13T00:54:07.657Z,1628816047.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:07.658Z,1628816047.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:07.664Z,1628816047.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:08.071Z,1628816048.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:08.462Z,1628816048.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00B5F,185,80,80,62,FF
2021-08-13T00:54:08.462Z,1628816048.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:08.902Z,1628816048.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005409.19*5E

2021-08-13T00:54:08.927Z,1628816048.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 56.085490 deg, deltaT: 4.400575 s, approachRate: 0.695363 m/s, LOS rate: -1.099833 deg/s, posRepo size: 4
2021-08-13T00:54:11.322Z,1628816051.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:11.725Z,1628816051.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:11.725Z,1628816051.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:11.725Z,1628816051.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:11.726Z,1628816051.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:12.109Z,1628816052.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00B5F,185,80,80,62,FF
2021-08-13T00:54:12.109Z,1628816052.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:12.109Z,1628816052.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:12.111Z,1628816052.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:12.509Z,1628816052.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:12.921Z,1628816052.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00B8C,187,80,80,78,FF
2021-08-13T00:54:12.922Z,1628816052.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:13.349Z,1628816053.349 [Micromodem](INFO): Nmea in: $SNTTA,0.096371,,,,005413.64*4B

2021-08-13T00:54:13.380Z,1628816053.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.860001 m, bearing: 59.501528 deg, deltaT: 4.508758 s, approachRate: 0.598834 m/s, LOS rate: 0.757645 deg/s, posRepo size: 4
2021-08-13T00:54:15.775Z,1628816055.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:16.145Z,1628816056.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:16.145Z,1628816056.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:16.146Z,1628816056.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:16.146Z,1628816056.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:16.541Z,1628816056.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00B8C,187,80,80,78,FF
2021-08-13T00:54:16.541Z,1628816056.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:16.541Z,1628816056.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:16.543Z,1628816056.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:16.965Z,1628816056.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:17.365Z,1628816057.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00BBE,186,80,80,80,FF
2021-08-13T00:54:17.366Z,1628816057.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:17.793Z,1628816057.793 [Micromodem](INFO): Nmea in: $SNTTA,0.097055,,,,005418.07*41

2021-08-13T00:54:17.846Z,1628816057.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 59.678901 deg, deltaT: 4.361473 s, approachRate: 0.687841 m/s, LOS rate: 0.040668 deg/s, posRepo size: 4
2021-08-13T00:54:20.251Z,1628816060.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:20.581Z,1628816060.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:20.581Z,1628816060.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:20.581Z,1628816060.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:20.582Z,1628816060.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:20.994Z,1628816060.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00BBE,186,80,80,80,FF
2021-08-13T00:54:20.994Z,1628816060.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:20.994Z,1628816060.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:20.997Z,1628816060.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:21.420Z,1628816061.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:21.798Z,1628816061.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,00BEE,187,80,80,80,FF
2021-08-13T00:54:21.799Z,1628816061.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:22.233Z,1628816062.233 [Micromodem](INFO): Nmea in: $SNTTA,0.289671,,,,005422.52*45

2021-08-13T00:54:22.282Z,1628816062.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.740005 m, bearing: 58.771626 deg, deltaT: 4.544817 s, approachRate: 0.633690 m/s, LOS rate: -0.199628 deg/s, posRepo size: 4
2021-08-13T00:54:24.705Z,1628816064.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:25.030Z,1628816065.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:25.030Z,1628816065.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:25.031Z,1628816065.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:25.031Z,1628816065.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:25.429Z,1628816065.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,00BEE,187,80,80,80,FF
2021-08-13T00:54:25.429Z,1628816065.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:25.429Z,1628816065.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:25.431Z,1628816065.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:25.869Z,1628816065.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:26.246Z,1628816066.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00C1D,186,80,80,86,FF
2021-08-13T00:54:26.246Z,1628816066.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:26.693Z,1628816066.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005426.96*54

2021-08-13T00:54:26.748Z,1628816066.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.559998 m, bearing: 57.160234 deg, deltaT: 4.391343 s, approachRate: 0.642171 m/s, LOS rate: -0.366947 deg/s, posRepo size: 4
2021-08-13T00:54:29.110Z,1628816069.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:29.469Z,1628816069.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:29.469Z,1628816069.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:29.469Z,1628816069.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:29.470Z,1628816069.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:29.923Z,1628816069.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00C1D,186,80,80,86,FF
2021-08-13T00:54:29.923Z,1628816069.923 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:29.923Z,1628816069.923 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:29.926Z,1628816069.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:30.284Z,1628816070.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:30.695Z,1628816070.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00C1D,186,80,80,86,FF
2021-08-13T00:54:30.695Z,1628816070.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:31.115Z,1628816071.115 [Micromodem](INFO): Nmea in: $SNTTA,0.106022,,,,005431.45*45

2021-08-13T00:54:31.167Z,1628816071.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.559998 m, bearing: 55.310063 deg, deltaT: 4.469247 s, approachRate: 0.000000 m/s, LOS rate: -0.413978 deg/s, posRepo size: 4
2021-08-13T00:54:33.531Z,1628816073.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:33.965Z,1628816073.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:33.965Z,1628816073.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:33.965Z,1628816073.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:33.966Z,1628816073.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:34.314Z,1628816074.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00C1D,186,80,80,86,FF
2021-08-13T00:54:34.314Z,1628816074.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:34.314Z,1628816074.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:34.315Z,1628816074.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:34.741Z,1628816074.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:35.134Z,1628816075.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00C7B,186,80,80,86,FF
2021-08-13T00:54:35.134Z,1628816075.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:35.561Z,1628816075.561 [Micromodem](INFO): Nmea in: $SNTTA,0.105590,,,,005435.87*40

2021-08-13T00:54:35.577Z,1628816075.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.200012 m, bearing: 56.425528 deg, deltaT: 4.372955 s, approachRate: 1.289749 m/s, LOS rate: 0.255083 deg/s, posRepo size: 4
2021-08-13T00:54:35.578Z,1628816075.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.20 m. Resuming terminal guidance.
2021-08-13T00:54:35.578Z,1628816075.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T00:54:38.020Z,1628816078.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:38.365Z,1628816078.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:38.365Z,1628816078.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:38.365Z,1628816078.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:38.366Z,1628816078.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:38.761Z,1628816078.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00C7B,186,80,80,86,FF
2021-08-13T00:54:38.761Z,1628816078.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:38.761Z,1628816078.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:38.763Z,1628816078.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:39.166Z,1628816079.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:39.578Z,1628816079.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00CAF,186,80,80,86,FF
2021-08-13T00:54:39.578Z,1628816079.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:40.013Z,1628816080.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005440.29*50

2021-08-13T00:54:40.083Z,1628816080.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.319992 m, bearing: 53.377167 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T00:54:40.083Z,1628816080.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 53.377167deg and heading rate command to 0 deg/s.
2021-08-13T00:54:42.414Z,1628816082.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:42.809Z,1628816082.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:42.809Z,1628816082.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:42.810Z,1628816082.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:42.810Z,1628816082.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:43.205Z,1628816083.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00CAF,186,80,80,86,FF
2021-08-13T00:54:43.205Z,1628816083.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:43.205Z,1628816083.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:43.207Z,1628816083.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:43.617Z,1628816083.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:44.014Z,1628816084.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00CDF,187,80,80,86,FF
2021-08-13T00:54:44.014Z,1628816084.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:44.457Z,1628816084.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005444.73*5B

2021-08-13T00:54:44.479Z,1628816084.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 60.310639 deg, deltaT: 4.497908 s, approachRate: 0.640299 m/s, LOS rate: 1.541488 deg/s, posRepo size: 2
2021-08-13T00:54:44.482Z,1628816084.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 60.310639 deg,
      approachRate: 0.640299 m/s,
      LOS rate: 1.541488 deg/s,
      cmd update: 4.624464 deg/s,
      cmd heading: 53.377167 deg,
      new cmd heading: 53.377167 deg.

2021-08-13T00:54:46.903Z,1628816086.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:46.903Z,1628816086.903 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T00:54:46.903Z,1628816086.903 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T00:54:46.903Z,1628816086.903 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T00:54:46.908Z,1628816086.908 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T00:54:46.908Z,1628816086.908 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T00:54:47.245Z,1628816087.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:47.245Z,1628816087.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:47.245Z,1628816087.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:47.246Z,1628816087.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:47.415Z,1628816087.415 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD1561210000005D000004003E0000000000000000151D80030C5669C08C7A971F7534AC075790484460FFDC2E863A2E9EA8D0369142426BF6C0B8EFC88921
2021-08-13T00:54:47.416Z,1628816087.416 [Micromodem](INFO): Outgoing frame #2, 18 bytes: E6D87304EBF98A882238E32E9A2C52163300
2021-08-13T00:54:47.416Z,1628816087.416 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T00:54:47.656Z,1628816087.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00CDF,187,80,80,86,FF
2021-08-13T00:54:47.657Z,1628816087.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:47.657Z,1628816087.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:47.663Z,1628816087.663 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T00:54:47.683Z,1628816087.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:48.071Z,1628816088.071 [Micromodem](INFO): Nmea in: $CADRQ,005448,1,10,0,64,1*7B

2021-08-13T00:54:48.071Z,1628816088.071 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005448,1,10,0,64,1*7B

2021-08-13T00:54:48.480Z,1628816088.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00CDF,187,80,80,86,FF
2021-08-13T00:54:48.481Z,1628816088.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:48.487Z,1628816088.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:48.909Z,1628816088.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005449.21*51

2021-08-13T00:54:49.085Z,1628816089.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 64.171506 deg, deltaT: 4.471430 s, approachRate: 0.000000 m/s, LOS rate: 0.863452 deg/s, posRepo size: 3
2021-08-13T00:54:49.087Z,1628816089.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 64.171506 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.863452 deg/s,
      cmd update: 2.590357 deg/s,
      cmd heading: 74.024821 deg,
      new cmd heading: 76.448919 deg.

2021-08-13T00:54:51.449Z,1628816091.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:51.757Z,1628816091.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:51.757Z,1628816091.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:51.757Z,1628816091.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:51.758Z,1628816091.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:52.161Z,1628816092.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00CDF,187,80,80,86,FF
2021-08-13T00:54:52.161Z,1628816092.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:52.161Z,1628816092.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:52.163Z,1628816092.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:52.565Z,1628816092.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:52.966Z,1628816092.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00DDF,187,80,80,86,FF
2021-08-13T00:54:52.966Z,1628816092.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:53.151Z,1628816093.151 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:54:53.405Z,1628816093.405 [Micromodem](INFO): Nmea in: $SNTTA,0.115285,,,,005453.69*42

2021-08-13T00:54:53.439Z,1628816093.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 72.053209 deg, deltaT: 4.618666 s, approachRate: 3.325636 m/s, LOS rate: 1.706489 deg/s, posRepo size: 4
2021-08-13T00:54:53.442Z,1628816093.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 72.053209 deg,
      approachRate: 3.325636 m/s,
      LOS rate: 1.706489 deg/s,
      cmd update: 5.119468 deg/s,
      cmd heading: 86.005811 deg,
      new cmd heading: 86.662280 deg.

2021-08-13T00:54:55.829Z,1628816095.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:54:56.197Z,1628816096.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:54:56.197Z,1628816096.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:54:56.197Z,1628816096.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:54:56.198Z,1628816096.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:54:56.597Z,1628816096.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00DDF,187,80,80,86,FF
2021-08-13T00:54:56.597Z,1628816096.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:54:56.597Z,1628816096.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:54:56.599Z,1628816096.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:54:57.012Z,1628816097.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:54:57.410Z,1628816097.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00D60,187,80,80,86,FF
2021-08-13T00:54:57.410Z,1628816097.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:54:57.842Z,1628816097.842 [Micromodem](INFO): Nmea in: $SNTTA,0.113784,,,,005458.12*47

2021-08-13T00:54:57.953Z,1628816097.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 102.316562 deg, deltaT: 4.247661 s, approachRate: -1.793927 m/s, LOS rate: 7.124710 deg/s, posRepo size: 4
2021-08-13T00:54:57.955Z,1628816097.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.940002 m,
      bearing: 102.316562 deg,
      approachRate: -1.793927 m/s,
      LOS rate: 7.124710 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 107.742834 deg,
      new cmd heading: 110.384710 deg.

2021-08-13T00:54:59.941Z,1628816099.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:00.233Z,1628816100.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:00.233Z,1628816100.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:00.233Z,1628816100.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:00.234Z,1628816100.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:00.638Z,1628816100.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00D60,187,80,80,86,FF
2021-08-13T00:55:00.639Z,1628816100.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:00.639Z,1628816100.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:00.679Z,1628816100.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:01.053Z,1628816101.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:01.852Z,1628816101.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,00D80,186,80,80,7B,FF
2021-08-13T00:55:01.853Z,1628816101.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:01.868Z,1628816101.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005502.20*5E

2021-08-13T00:55:02.312Z,1628816102.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.860001 m, bearing: 125.884430 deg, deltaT: 4.551276 s, approachRate: 0.421859 m/s, LOS rate: 5.178299 deg/s, posRepo size: 4
2021-08-13T00:55:02.314Z,1628816102.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.860001 m,
      bearing: 125.884430 deg,
      approachRate: 0.421859 m/s,
      LOS rate: 5.178299 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.277375 deg,
      new cmd heading: 166.303339 deg.

2021-08-13T00:55:04.726Z,1628816104.726 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:55:04.742Z,1628816104.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:05.085Z,1628816105.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:05.085Z,1628816105.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:05.085Z,1628816105.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:05.086Z,1628816105.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:05.493Z,1628816105.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,00D80,186,80,80,7B,FF
2021-08-13T00:55:05.493Z,1628816105.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:05.494Z,1628816105.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:05.495Z,1628816105.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:05.937Z,1628816105.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:06.310Z,1628816106.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,00D94,186,80,80,7B,FF
2021-08-13T00:55:06.310Z,1628816106.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:06.750Z,1628816106.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005507.02*5B

2021-08-13T00:55:06.775Z,1628816106.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.059998 m, bearing: 109.037720 deg, deltaT: 4.392625 s, approachRate: 0.273184 m/s, LOS rate: -3.835226 deg/s, posRepo size: 4
2021-08-13T00:55:06.777Z,1628816106.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 109.037720 deg,
      approachRate: 0.273184 m/s,
      LOS rate: -3.835226 deg/s,
      cmd update: -11.505677 deg/s,
      cmd heading: 214.989933 deg,
      new cmd heading: 219.865065 deg.

2021-08-13T00:55:09.241Z,1628816109.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:09.586Z,1628816109.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:09.586Z,1628816109.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:09.586Z,1628816109.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:09.587Z,1628816109.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:09.985Z,1628816109.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,00D94,186,80,80,7B,FF
2021-08-13T00:55:09.985Z,1628816109.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:09.985Z,1628816109.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:09.987Z,1628816109.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:10.393Z,1628816110.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:10.798Z,1628816110.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00D94,186,80,80,7B,FF
2021-08-13T00:55:10.798Z,1628816110.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:11.233Z,1628816111.233 [Micromodem](INFO): Nmea in: $SNTTA,0.113667,,,,005511.51*40

2021-08-13T00:55:11.257Z,1628816111.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.059998 m, bearing: 178.180689 deg, deltaT: 4.508172 s, approachRate: 0.000000 m/s, LOS rate: 15.337251 deg/s, posRepo size: 4
2021-08-13T00:55:11.257Z,1628816111.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.337251 deg/s. Setting heading cmd to target bearing of 178.180689deg and heading rate command to 0 deg/s.
2021-08-13T00:55:13.715Z,1628816113.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:14.036Z,1628816114.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:14.036Z,1628816114.036 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:14.036Z,1628816114.036 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:14.037Z,1628816114.037 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:14.433Z,1628816114.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00D94,186,80,80,7B,FF
2021-08-13T00:55:14.433Z,1628816114.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:14.433Z,1628816114.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:14.435Z,1628816114.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:15.065Z,1628816115.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:15.463Z,1628816115.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00D87,18A,80,80,7D,FF
2021-08-13T00:55:15.463Z,1628816115.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:15.906Z,1628816115.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005515.96*55

2021-08-13T00:55:15.997Z,1628816115.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 235.059403 deg, deltaT: 4.606296 s, approachRate: -0.169333 m/s, LOS rate: 12.348037 deg/s, posRepo size: 4
2021-08-13T00:55:15.998Z,1628816115.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.348037 deg/s. Setting heading cmd to target bearing of 235.059403deg and heading rate command to 0 deg/s.
2021-08-13T00:55:17.506Z,1628816117.506 [Micromodem](INFO): Nmea in: $CAERR,005518,DATA_TIMEOUT,1*47

2021-08-13T00:55:17.998Z,1628816117.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:18.305Z,1628816118.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:18.305Z,1628816118.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:18.305Z,1628816118.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:18.306Z,1628816118.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:18.722Z,1628816118.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00D87,18A,80,80,7D,FF
2021-08-13T00:55:18.723Z,1628816118.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:18.723Z,1628816118.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:18.726Z,1628816118.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:19.196Z,1628816119.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:19.597Z,1628816119.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1B,000,00D6C,189,80,80,92,FF
2021-08-13T00:55:19.598Z,1628816119.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:20.017Z,1628816120.017 [Micromodem](INFO): Nmea in: $SNTTA,0.142380,,,,005520.25*49

2021-08-13T00:55:20.097Z,1628816120.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.660004 m, bearing: 233.417562 deg, deltaT: 4.123288 s, approachRate: -0.392889 m/s, LOS rate: -0.398187 deg/s, posRepo size: 4
2021-08-13T00:55:20.099Z,1628816120.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 233.417562 deg,
      approachRate: -0.392889 m/s,
      LOS rate: -0.398187 deg/s,
      cmd update: -1.194562 deg/s,
      cmd heading: 235.059403 deg,
      new cmd heading: 235.059403 deg.

2021-08-13T00:55:22.439Z,1628816122.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:22.831Z,1628816122.831 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:22.832Z,1628816122.832 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:22.832Z,1628816122.832 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:22.833Z,1628816122.833 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:23.225Z,1628816123.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1B,000,00D6C,189,80,80,92,FF
2021-08-13T00:55:23.225Z,1628816123.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:23.226Z,1628816123.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:23.227Z,1628816123.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:23.647Z,1628816123.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:24.041Z,1628816124.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,00D50,189,80,80,92,FF
2021-08-13T00:55:24.042Z,1628816124.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:24.046Z,1628816124.046 [Micromodem](INFO): Nmea in: $SNTTA,0.269836,0.269961,,,005524.75*59

2021-08-13T00:55:24.477Z,1628816124.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.979996 m, bearing: 234.169921 deg, deltaT: 4.540626 s, approachRate: -0.369995 m/s, LOS rate: 0.165695 deg/s, posRepo size: 4
2021-08-13T00:55:24.479Z,1628816124.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.979996 m,
      bearing: 234.169921 deg,
      approachRate: -0.369995 m/s,
      LOS rate: 0.165695 deg/s,
      cmd update: 0.497085 deg/s,
      cmd heading: 229.639965 deg,
      new cmd heading: 229.251532 deg.

2021-08-13T00:55:26.923Z,1628816126.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:27.265Z,1628816127.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:27.265Z,1628816127.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:27.265Z,1628816127.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:27.266Z,1628816127.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:27.694Z,1628816127.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,00D50,189,80,80,92,FF
2021-08-13T00:55:27.694Z,1628816127.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:27.695Z,1628816127.695 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:27.702Z,1628816127.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:28.216Z,1628816128.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:28.601Z,1628816128.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00D1F,187,80,80,9C,FF
2021-08-13T00:55:28.602Z,1628816128.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:29.025Z,1628816129.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005529.23*54

2021-08-13T00:55:29.077Z,1628816129.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.040009 m, bearing: 241.239850 deg, deltaT: 4.559774 s, approachRate: -0.644766 m/s, LOS rate: 1.550500 deg/s, posRepo size: 4
2021-08-13T00:55:29.079Z,1628816129.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 241.239850 deg,
      approachRate: -0.644766 m/s,
      LOS rate: 1.550500 deg/s,
      cmd update: 4.651499 deg/s,
      cmd heading: 231.906593 deg,
      new cmd heading: 232.086129 deg.

2021-08-13T00:55:31.626Z,1628816131.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:31.840Z,1628816131.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:31.840Z,1628816131.840 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:31.840Z,1628816131.840 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:31.841Z,1628816131.841 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:32.245Z,1628816132.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00D1F,187,80,80,9C,FF
2021-08-13T00:55:32.245Z,1628816132.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:32.245Z,1628816132.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:32.247Z,1628816132.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:32.653Z,1628816132.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:33.054Z,1628816133.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,00CF2,182,80,80,9C,FF
2021-08-13T00:55:33.054Z,1628816133.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:33.489Z,1628816133.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005533.77*5E

2021-08-13T00:55:33.682Z,1628816133.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.339996 m, bearing: 232.874863 deg, deltaT: 4.406373 s, approachRate: -0.612752 m/s, LOS rate: -1.898384 deg/s, posRepo size: 4
2021-08-13T00:55:33.691Z,1628816133.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 232.874863 deg,
      approachRate: -0.612752 m/s,
      LOS rate: -1.898384 deg/s,
      cmd update: -5.695152 deg/s,
      cmd heading: 252.402815 deg,
      new cmd heading: 255.007948 deg.

2021-08-13T00:55:36.024Z,1628816136.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:36.321Z,1628816136.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:36.321Z,1628816136.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:36.321Z,1628816136.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:36.322Z,1628816136.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:36.761Z,1628816136.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,00CF2,182,80,80,9C,FF
2021-08-13T00:55:36.761Z,1628816136.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:36.761Z,1628816136.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:36.763Z,1628816136.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:37.133Z,1628816137.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:37.537Z,1628816137.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,00CF2,182,80,80,9C,FF
2021-08-13T00:55:37.538Z,1628816137.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:37.986Z,1628816137.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005538.29*5E

2021-08-13T00:55:38.164Z,1628816138.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.339996 m, bearing: 250.565380 deg, deltaT: 4.485364 s, approachRate: 0.000000 m/s, LOS rate: 3.944054 deg/s, posRepo size: 4
2021-08-13T00:55:38.166Z,1628816138.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 250.565380 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.944054 deg/s,
      cmd update: 11.832162 deg/s,
      cmd heading: 226.834232 deg,
      new cmd heading: 223.664157 deg.

2021-08-13T00:55:40.170Z,1628816140.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:40.357Z,1628816140.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:40.358Z,1628816140.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:40.358Z,1628816140.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:40.359Z,1628816140.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:40.777Z,1628816140.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,00CF2,182,80,80,9C,FF
2021-08-13T00:55:40.777Z,1628816140.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:40.777Z,1628816140.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:40.779Z,1628816140.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:41.169Z,1628816141.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:41.599Z,1628816141.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00A21,186,80,80,94,FF
2021-08-13T00:55:41.600Z,1628816141.600 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:42.009Z,1628816142.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005542.31*5A

2021-08-13T00:55:42.055Z,1628816142.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.080002 m, bearing: 231.717036 deg, deltaT: 4.010403 s, approachRate: -10.786944 m/s, LOS rate: -4.699863 deg/s, posRepo size: 4
2021-08-13T00:55:42.077Z,1628816142.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 231.717036 deg,
      approachRate: -10.786944 m/s,
      LOS rate: -4.699863 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.276197 deg,
      new cmd heading: 279.457323 deg.

2021-08-13T00:55:44.571Z,1628816144.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:44.825Z,1628816144.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:44.826Z,1628816144.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:44.826Z,1628816144.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:44.827Z,1628816144.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:45.209Z,1628816145.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00A21,186,80,80,94,FF
2021-08-13T00:55:45.209Z,1628816145.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:45.210Z,1628816145.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:45.211Z,1628816145.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:45.627Z,1628816145.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:46.029Z,1628816146.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,00C67,186,80,80,A0,FF
2021-08-13T00:55:46.029Z,1628816146.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:46.453Z,1628816146.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005546.74*5F

2021-08-13T00:55:46.705Z,1628816146.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.000015 m, bearing: 231.177260 deg, deltaT: 4.501435 s, approachRate: 7.757529 m/s, LOS rate: -0.119912 deg/s, posRepo size: 4
2021-08-13T00:55:46.707Z,1628816146.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.000015 m,
      bearing: 231.177260 deg,
      approachRate: 7.757529 m/s,
      LOS rate: -0.119912 deg/s,
      cmd update: -0.359736 deg/s,
      cmd heading: 220.249591 deg,
      new cmd heading: 213.271291 deg.

2021-08-13T00:55:48.957Z,1628816148.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:49.317Z,1628816149.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:49.317Z,1628816149.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:49.317Z,1628816149.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:49.318Z,1628816149.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:49.745Z,1628816149.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,00C67,186,80,80,A0,FF
2021-08-13T00:55:49.745Z,1628816149.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:49.745Z,1628816149.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:49.747Z,1628816149.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:50.265Z,1628816150.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:50.303Z,1628816150.303 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T00:55:50.654Z,1628816150.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,00C39,188,80,80,8C,FF
2021-08-13T00:55:50.655Z,1628816150.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:51.081Z,1628816151.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005551.27*5F

2021-08-13T00:55:51.104Z,1628816151.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 226.464744 deg, deltaT: 4.766162 s, approachRate: -0.579088 m/s, LOS rate: -0.988744 deg/s, posRepo size: 4
2021-08-13T00:55:51.106Z,1628816151.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 226.464744 deg,
      approachRate: -0.579088 m/s,
      LOS rate: -0.988744 deg/s,
      cmd update: -2.966233 deg/s,
      cmd heading: 218.535100 deg,
      new cmd heading: 218.456389 deg.

2021-08-13T00:55:52.691Z,1628816152.691 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T00:55:53.210Z,1628816153.210 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD1561210000005D000004003E0000000000000000151D80030C5669C08C7A971F7534AC075790484460FFDC2E863A2E9EA8D0369142426BF6C0B8EFC88921
2021-08-13T00:55:53.211Z,1628816153.211 [Micromodem](INFO): Outgoing frame #2, 18 bytes: E6D87304EBF98A882238E32E9A2C52163300
2021-08-13T00:55:53.211Z,1628816153.211 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T00:55:53.490Z,1628816153.490 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T00:55:53.507Z,1628816153.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:53.929Z,1628816153.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:53.929Z,1628816153.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:53.929Z,1628816153.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:53.930Z,1628816153.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:53.937Z,1628816153.937 [Micromodem](INFO): Nmea in: $CADRQ,005554,1,10,0,64,1*77

2021-08-13T00:55:53.939Z,1628816153.939 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561210000005D000004003E0000000000000000151D80030C5669C08C7A971F7534AC075790484460FFDC2E863A2E9EA8D0369142426BF6C0B8EFC88921*48

2021-08-13T00:55:54.297Z,1628816154.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,00C39,188,80,80,8C,FF
2021-08-13T00:55:54.297Z,1628816154.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:54.297Z,1628816154.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:54.299Z,1628816154.299 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T00:55:54.300Z,1628816154.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:54.739Z,1628816154.739 [Micromodem](INFO): Nmea in: $CADRQ,005555,1,10,0,64,2*75

2021-08-13T00:55:54.739Z,1628816154.739 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,005555,1,10,0,64,2*75

2021-08-13T00:55:55.113Z,1628816155.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00C06,186,80,80,9D,FF
2021-08-13T00:55:55.113Z,1628816155.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:55.119Z,1628816155.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:55.545Z,1628816155.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005555.82*54

2021-08-13T00:55:55.576Z,1628816155.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 229.936051 deg, deltaT: 4.288780 s, approachRate: -0.713485 m/s, LOS rate: 0.809393 deg/s, posRepo size: 4
2021-08-13T00:55:55.578Z,1628816155.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.180008 m,
      bearing: 229.936051 deg,
      approachRate: -0.713485 m/s,
      LOS rate: 0.809393 deg/s,
      cmd update: 2.428178 deg/s,
      cmd heading: 205.814284 deg,
      new cmd heading: 204.621558 deg.

2021-08-13T00:55:58.033Z,1628816158.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:55:58.333Z,1628816158.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:55:58.334Z,1628816158.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:55:58.334Z,1628816158.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:55:58.335Z,1628816158.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:55:58.741Z,1628816158.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00C06,186,80,80,9D,FF
2021-08-13T00:55:58.741Z,1628816158.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:55:58.741Z,1628816158.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:55:58.743Z,1628816158.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:55:59.140Z,1628816159.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:55:59.550Z,1628816159.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,00BD5,187,80,80,AF,FF
2021-08-13T00:55:59.550Z,1628816159.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:55:59.997Z,1628816159.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005600.27*58

2021-08-13T00:56:00.053Z,1628816160.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 230.235295 deg, deltaT: 4.419698 s, approachRate: -0.665204 m/s, LOS rate: 0.067707 deg/s, posRepo size: 4
2021-08-13T00:56:00.055Z,1628816160.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.240005 m,
      bearing: 230.235295 deg,
      approachRate: -0.665204 m/s,
      LOS rate: 0.067707 deg/s,
      cmd update: 0.203121 deg/s,
      cmd heading: 216.537302 deg,
      new cmd heading: 217.662670 deg.

2021-08-13T00:56:02.387Z,1628816162.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:02.773Z,1628816162.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:02.773Z,1628816162.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:02.773Z,1628816162.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:02.774Z,1628816162.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:03.182Z,1628816163.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,00BD5,187,80,80,AF,FF
2021-08-13T00:56:03.182Z,1628816163.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:03.182Z,1628816163.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:03.184Z,1628816163.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:03.581Z,1628816163.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:04.017Z,1628816164.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00BA1,187,80,80,C2,FF
2021-08-13T00:56:04.017Z,1628816164.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:04.020Z,1628816164.020 [Micromodem](INFO): Nmea in: $SNTTA,0.289655,0.290399,,,005604.71*52

2021-08-13T00:56:04.419Z,1628816164.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.119995 m, bearing: 233.824723 deg, deltaT: 4.461668 s, approachRate: -0.699292 m/s, LOS rate: 0.804504 deg/s, posRepo size: 4
2021-08-13T00:56:04.422Z,1628816164.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.119995 m,
      bearing: 233.824723 deg,
      approachRate: -0.699292 m/s,
      LOS rate: 0.804504 deg/s,
      cmd update: 2.413511 deg/s,
      cmd heading: 217.444382 deg,
      new cmd heading: 217.518346 deg.

2021-08-13T00:56:06.904Z,1628816166.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:07.221Z,1628816167.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:07.221Z,1628816167.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:07.221Z,1628816167.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:07.222Z,1628816167.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:07.621Z,1628816167.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00BA1,187,80,80,C2,FF
2021-08-13T00:56:07.621Z,1628816167.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:07.622Z,1628816167.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:07.623Z,1628816167.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:08.029Z,1628816168.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:08.437Z,1628816168.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00B6A,186,80,80,B4,FF
2021-08-13T00:56:08.438Z,1628816168.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:08.877Z,1628816168.877 [Micromodem](INFO): Nmea in: $SNTTA,0.094039,,,,005609.15*49

2021-08-13T00:56:08.903Z,1628816168.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.820007 m, bearing: 235.352992 deg, deltaT: 4.442243 s, approachRate: -0.742865 m/s, LOS rate: 0.344031 deg/s, posRepo size: 4
2021-08-13T00:56:08.905Z,1628816168.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.820007 m,
      bearing: 235.352992 deg,
      approachRate: -0.742865 m/s,
      LOS rate: 0.344031 deg/s,
      cmd update: 1.032092 deg/s,
      cmd heading: 228.165459 deg,
      new cmd heading: 229.143419 deg.

2021-08-13T00:56:11.314Z,1628816171.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:11.680Z,1628816171.680 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:11.681Z,1628816171.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:11.681Z,1628816171.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:11.682Z,1628816171.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:12.073Z,1628816172.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00B6A,186,80,80,B4,FF
2021-08-13T00:56:12.073Z,1628816172.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:12.073Z,1628816172.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:12.075Z,1628816172.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:12.563Z,1628816172.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:12.957Z,1628816172.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00B3A,186,80,80,B3,FF
2021-08-13T00:56:12.957Z,1628816172.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:13.373Z,1628816173.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005613.60*59

2021-08-13T00:56:13.423Z,1628816173.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.940002 m, bearing: 234.794200 deg, deltaT: 4.525342 s, approachRate: -0.636417 m/s, LOS rate: -0.123480 deg/s, posRepo size: 4
2021-08-13T00:56:13.426Z,1628816173.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 234.794200 deg,
      approachRate: -0.636417 m/s,
      LOS rate: -0.123480 deg/s,
      cmd update: -0.370441 deg/s,
      cmd heading: 232.823728 deg,
      new cmd heading: 233.249551 deg.

2021-08-13T00:56:13.797Z,1628816173.797 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:56:15.825Z,1628816175.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:16.189Z,1628816176.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:16.189Z,1628816176.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:16.189Z,1628816176.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:16.190Z,1628816176.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:16.593Z,1628816176.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00B3A,186,80,80,B3,FF
2021-08-13T00:56:16.593Z,1628816176.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:16.593Z,1628816176.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:16.595Z,1628816176.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:17.108Z,1628816177.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:17.513Z,1628816177.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00B04,185,80,80,A7,FF
2021-08-13T00:56:17.513Z,1628816177.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:17.962Z,1628816177.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005618.12*57

2021-08-13T00:56:18.041Z,1628816178.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.700012 m, bearing: 235.939459 deg, deltaT: 4.583938 s, approachRate: -0.706814 m/s, LOS rate: 0.249842 deg/s, posRepo size: 4
2021-08-13T00:56:18.043Z,1628816178.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.700012 m,
      bearing: 235.939459 deg,
      approachRate: -0.706814 m/s,
      LOS rate: 0.249842 deg/s,
      cmd update: 0.749525 deg/s,
      cmd heading: 231.121154 deg,
      new cmd heading: 230.960404 deg.

2021-08-13T00:56:20.348Z,1628816180.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:20.741Z,1628816180.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:20.741Z,1628816180.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:20.741Z,1628816180.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:20.742Z,1628816180.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:20.797Z,1628816180.797 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:56:21.142Z,1628816181.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00B04,185,80,80,A7,FF
2021-08-13T00:56:21.142Z,1628816181.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:21.142Z,1628816181.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:21.144Z,1628816181.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:21.579Z,1628816181.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:21.973Z,1628816181.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00AD0,184,80,80,B8,FF
2021-08-13T00:56:21.973Z,1628816181.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:22.393Z,1628816182.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005622.67*5C

2021-08-13T00:56:22.411Z,1628816182.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.580002 m, bearing: 235.893806 deg, deltaT: 4.446648 s, approachRate: -0.701654 m/s, LOS rate: -0.010267 deg/s, posRepo size: 4
2021-08-13T00:56:22.414Z,1628816182.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.580002 m,
      bearing: 235.893806 deg,
      approachRate: -0.701654 m/s,
      LOS rate: -0.010267 deg/s,
      cmd update: -0.030800 deg/s,
      cmd heading: 234.450847 deg,
      new cmd heading: 234.722299 deg.

2021-08-13T00:56:24.390Z,1628816184.390 [Micromodem](INFO): Nmea in: $CAERR,005625,DATA_TIMEOUT,2*49

2021-08-13T00:56:24.774Z,1628816184.774 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-13T00:56:24.830Z,1628816184.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:25.177Z,1628816185.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:25.177Z,1628816185.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:25.177Z,1628816185.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:25.178Z,1628816185.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:25.590Z,1628816185.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00AD0,184,80,80,B8,FF
2021-08-13T00:56:25.590Z,1628816185.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:25.590Z,1628816185.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:25.592Z,1628816185.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:26.002Z,1628816186.002 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-13T00:56:26.002Z,1628816186.002 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-13T00:56:26.391Z,1628816186.391 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,005625.505956,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5A

2021-08-13T00:56:26.391Z,1628816186.391 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,005625.505956,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*5A

2021-08-13T00:56:27.638Z,1628816187.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:28.042Z,1628816188.042 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T00:56:28.422Z,1628816188.422 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813005628.477561,06,32767,45,0124,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,17.0,8.14,15,-5.14,-01,-0.68,51,14500,4000*4C

2021-08-13T00:56:28.422Z,1628816188.422 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813005628.477561,06,32767,45,0124,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,17.0,8.14,15,-5.14,-01,-0.68,51,14500,4000*4C

2021-08-13T00:56:30.509Z,1628816190.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:31.296Z,1628816191.296 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.117863
2021-08-13T00:56:31.893Z,1628816191.893 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T00:56:33.359Z,1628816193.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:33.737Z,1628816193.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:33.737Z,1628816193.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:33.737Z,1628816193.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:33.738Z,1628816193.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:34.137Z,1628816194.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00AD0,184,80,80,B8,FF
2021-08-13T00:56:34.137Z,1628816194.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:34.137Z,1628816194.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:36.344Z,1628816196.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:36.966Z,1628816196.966 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:37.377Z,1628816197.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:37.769Z,1628816197.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00A1E,183,80,80,B5,FF
2021-08-13T00:56:37.770Z,1628816197.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:38.219Z,1628816198.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005638.49*5B

2021-08-13T00:56:38.390Z,1628816198.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 236.630073 deg, deltaT: 15.863629 s, approachRate: -0.673238 m/s, LOS rate: 0.046412 deg/s, posRepo size: 4
2021-08-13T00:56:38.393Z,1628816198.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.900009 m,
      bearing: 236.630073 deg,
      approachRate: -0.673238 m/s,
      LOS rate: 0.046412 deg/s,
      cmd update: 0.139237 deg/s,
      cmd heading: 233.963111 deg,
      new cmd heading: 233.947533 deg.

2021-08-13T00:56:40.640Z,1628816200.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:41.008Z,1628816201.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:41.008Z,1628816201.008 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:41.009Z,1628816201.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:41.009Z,1628816201.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:41.416Z,1628816201.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00A1E,183,80,80,B5,FF
2021-08-13T00:56:41.416Z,1628816201.416 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:41.417Z,1628816201.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:41.418Z,1628816201.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:41.821Z,1628816201.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:42.217Z,1628816202.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,012,000,009E7,183,80,80,A4,FF
2021-08-13T00:56:42.217Z,1628816202.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:42.692Z,1628816202.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005642.94*56

2021-08-13T00:56:42.882Z,1628816202.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.600006 m, bearing: 235.126776 deg, deltaT: 4.388761 s, approachRate: -0.751921 m/s, LOS rate: -0.342533 deg/s, posRepo size: 4
2021-08-13T00:56:42.884Z,1628816202.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 235.126776 deg,
      approachRate: -0.751921 m/s,
      LOS rate: -0.342533 deg/s,
      cmd update: -1.027600 deg/s,
      cmd heading: 234.578160 deg,
      new cmd heading: 234.658908 deg.

2021-08-13T00:56:44.879Z,1628816204.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:45.064Z,1628816205.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:45.064Z,1628816205.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:45.064Z,1628816205.064 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:45.065Z,1628816205.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:45.461Z,1628816205.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
012,000,009E7,183,80,80,A4,FF
2021-08-13T00:56:45.461Z,1628816205.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:45.461Z,1628816205.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:45.463Z,1628816205.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:45.924Z,1628816205.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:46.284Z,1628816206.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,009B8,183,80,80,B0,FF
2021-08-13T00:56:46.285Z,1628816206.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:46.758Z,1628816206.758 [Micromodem](INFO): Nmea in: $SNTTA,0.074267,,,,005646.99*41

2021-08-13T00:56:46.788Z,1628816206.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.779999 m, bearing: 237.353800 deg, deltaT: 3.998066 s, approachRate: -0.705343 m/s, LOS rate: 0.557025 deg/s, posRepo size: 4
2021-08-13T00:56:46.790Z,1628816206.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.779999 m,
      bearing: 237.353800 deg,
      approachRate: -0.705343 m/s,
      LOS rate: 0.557025 deg/s,
      cmd update: 1.671076 deg/s,
      cmd heading: 230.467329 deg,
      new cmd heading: 229.968669 deg.

2021-08-13T00:56:48.845Z,1628816208.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:49.104Z,1628816209.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:49.104Z,1628816209.104 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:49.104Z,1628816209.104 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:49.105Z,1628816209.105 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:49.506Z,1628816209.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,009B8,183,80,80,B0,FF
2021-08-13T00:56:49.506Z,1628816209.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:49.506Z,1628816209.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:49.507Z,1628816209.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:49.960Z,1628816209.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:50.309Z,1628816210.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00987,184,80,80,B3,FF
2021-08-13T00:56:50.309Z,1628816210.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:50.777Z,1628816210.777 [Micromodem](INFO): Nmea in: $SNTTA,0.074661,,,,005651.04*41

2021-08-13T00:56:50.829Z,1628816210.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.840004 m, bearing: 238.098673 deg, deltaT: 4.075882 s, approachRate: -0.721315 m/s, LOS rate: 0.182751 deg/s, posRepo size: 4
2021-08-13T00:56:50.831Z,1628816210.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.840004 m,
      bearing: 238.098673 deg,
      approachRate: -0.721315 m/s,
      LOS rate: 0.182751 deg/s,
      cmd update: 0.548254 deg/s,
      cmd heading: 237.274350 deg,
      new cmd heading: 238.031267 deg.

2021-08-13T00:56:53.186Z,1628816213.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:53.554Z,1628816213.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:53.554Z,1628816213.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:53.554Z,1628816213.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:53.555Z,1628816213.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:53.977Z,1628816213.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00987,184,80,80,B3,FF
2021-08-13T00:56:53.977Z,1628816213.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:53.977Z,1628816213.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:53.979Z,1628816213.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:54.487Z,1628816214.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:54.881Z,1628816214.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00956,185,80,80,B4,FF
2021-08-13T00:56:54.881Z,1628816214.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:55.302Z,1628816215.302 [Micromodem](INFO): Nmea in: $SNTTA,0.070361,,,,005655.51*44

2021-08-13T00:56:55.461Z,1628816215.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 236.553930 deg, deltaT: 4.540046 s, approachRate: -0.647571 m/s, LOS rate: -0.340248 deg/s, posRepo size: 4
2021-08-13T00:56:55.463Z,1628816215.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.900002 m,
      bearing: 236.553930 deg,
      approachRate: -0.647571 m/s,
      LOS rate: -0.340248 deg/s,
      cmd update: -1.020745 deg/s,
      cmd heading: 239.765702 deg,
      new cmd heading: 240.062560 deg.

2021-08-13T00:56:57.474Z,1628816217.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:56:57.741Z,1628816217.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:56:57.741Z,1628816217.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:56:57.741Z,1628816217.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:56:57.742Z,1628816217.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:56:58.109Z,1628816218.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00956,185,80,80,B4,FF
2021-08-13T00:56:58.109Z,1628816218.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:56:58.110Z,1628816218.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:56:58.111Z,1628816218.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:56:58.524Z,1628816218.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:56:58.536Z,1628816218.536 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T00:56:58.929Z,1628816218.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,0092B,186,80,80,A5,FF
2021-08-13T00:56:58.929Z,1628816218.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:56:59.071Z,1628816219.071 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD1561210000005D000004003E0000000000000000151D80030C5669C08C7A971F7534AC075790484460FFDC2E863A2E9EA8D0369142426BF6C0B8EFC88921
2021-08-13T00:56:59.071Z,1628816219.071 [Micromodem](INFO): Outgoing frame #2, 18 bytes: E6D87304EBF98A882238E32E9A2C52163300
2021-08-13T00:56:59.072Z,1628816219.072 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T00:56:59.365Z,1628816219.365 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T00:56:59.413Z,1628816219.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 236.188160 deg, deltaT: 4.222343 s, approachRate: -0.611036 m/s, LOS rate: -0.086627 deg/s, posRepo size: 4
2021-08-13T00:56:59.415Z,1628816219.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 236.188160 deg,
      approachRate: -0.611036 m/s,
      LOS rate: -0.086627 deg/s,
      cmd update: -0.259882 deg/s,
      cmd heading: 235.455870 deg,
      new cmd heading: 235.200274 deg.

2021-08-13T00:56:59.757Z,1628816219.757 [Micromodem](INFO): Nmea in: $CADRQ,005700,1,10,0,64,1*74

2021-08-13T00:56:59.758Z,1628816219.758 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561210000005D000004003E0000000000000000151D80030C5669C08C7A971F7534AC075790484460FFDC2E863A2E9EA8D0369142426BF6C0B8EFC88921*48

2021-08-13T00:57:00.141Z,1628816220.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005659.64*53

2021-08-13T00:57:00.141Z,1628816220.141 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,005659.64*53

2021-08-13T00:57:01.353Z,1628816221.353 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T00:57:01.746Z,1628816221.746 [Micromodem](INFO): Nmea in: $CADRQ,005701,1,10,0,64,2*76

2021-08-13T00:57:01.747Z,1628816221.747 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E6D87304EBF98A882238E32E9A2C52163300*44

2021-08-13T00:57:02.034Z,1628816222.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:02.241Z,1628816222.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:02.241Z,1628816222.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:02.241Z,1628816222.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:02.242Z,1628816222.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:02.265Z,1628816222.265 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-13T00:57:02.641Z,1628816222.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0092B,186,80,80,A5,FF
2021-08-13T00:57:02.641Z,1628816222.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:02.642Z,1628816222.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:02.643Z,1628816222.643 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-13T00:57:02.644Z,1628816222.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:04.777Z,1628816224.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:05.098Z,1628816225.098 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-13T00:57:05.098Z,1628816225.098 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-13T00:57:05.503Z,1628816225.503 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,005703.263152,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5F

2021-08-13T00:57:05.503Z,1628816225.503 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,005703.263152,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5F

2021-08-13T00:57:07.555Z,1628816227.555 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T00:57:07.618Z,1628816227.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:07.962Z,1628816227.962 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T00:57:07.964Z,1628816227.964 [Micromodem](INFO): Sent 74 bytes from file Logs/20210812T232438/Courier0033.lzma.parts
2021-08-13T00:57:07.964Z,1628816227.964 [Micromodem](INFO): Packets left to send: 0
2021-08-13T00:57:08.348Z,1628816228.348 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.105883
2021-08-13T00:57:08.363Z,1628816228.363 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813005708.035061,06,32767,45,0151,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,17.4,9.91,20,-6.91,-01,-0.87,37,14500,4000*45

2021-08-13T00:57:08.363Z,1628816228.363 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813005708.035061,06,32767,45,0151,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,17.4,9.91,20,-6.91,-01,-0.87,37,14500,4000*45

2021-08-13T00:57:08.846Z,1628816228.846 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T00:57:08.846Z,1628816228.846 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T00:57:08.846Z,1628816228.846 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T00:57:08.847Z,1628816228.847 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T00:57:08.847Z,1628816228.847 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T00:57:10.275Z,1628816230.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:10.617Z,1628816230.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:10.617Z,1628816230.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:10.617Z,1628816230.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:10.618Z,1628816230.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:11.038Z,1628816231.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,0092B,186,80,80,A5,FF
2021-08-13T00:57:11.038Z,1628816231.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:11.038Z,1628816231.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:13.097Z,1628816233.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:13.860Z,1628816233.860 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:14.255Z,1628816234.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:14.668Z,1628816234.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00878,184,80,80,A4,FF
2021-08-13T00:57:14.670Z,1628816234.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:15.110Z,1628816235.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005715.39*52

2021-08-13T00:57:15.132Z,1628816235.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.580002 m, bearing: 236.595130 deg, deltaT: 15.608363 s, approachRate: -0.688093 m/s, LOS rate: 0.026074 deg/s, posRepo size: 4
2021-08-13T00:57:15.134Z,1628816235.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.580002 m,
      bearing: 236.595130 deg,
      approachRate: -0.688093 m/s,
      LOS rate: 0.026074 deg/s,
      cmd update: 0.078222 deg/s,
      cmd heading: 231.400558 deg,
      new cmd heading: 231.300471 deg.

2021-08-13T00:57:17.633Z,1628816237.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:18.009Z,1628816238.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:18.009Z,1628816238.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:18.009Z,1628816238.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:18.010Z,1628816238.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:18.413Z,1628816238.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00878,184,80,80,A4,FF
2021-08-13T00:57:18.413Z,1628816238.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:18.414Z,1628816238.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:18.415Z,1628816238.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:18.832Z,1628816238.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:19.225Z,1628816239.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0083F,184,80,80,90,FF
2021-08-13T00:57:19.225Z,1628816239.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:19.689Z,1628816239.689 [Micromodem](INFO): Nmea in: $SNTTA,0.066384,,,,005719.94*48

2021-08-13T00:57:19.783Z,1628816239.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 235.520441 deg, deltaT: 4.519522 s, approachRate: -0.756717 m/s, LOS rate: -0.237788 deg/s, posRepo size: 4
2021-08-13T00:57:19.790Z,1628816239.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.160004 m,
      bearing: 235.520441 deg,
      approachRate: -0.756717 m/s,
      LOS rate: -0.237788 deg/s,
      cmd update: -0.713365 deg/s,
      cmd heading: 231.754084 deg,
      new cmd heading: 231.794545 deg.

2021-08-13T00:57:22.100Z,1628816242.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:22.465Z,1628816242.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:22.465Z,1628816242.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:22.465Z,1628816242.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:22.466Z,1628816242.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:22.866Z,1628816242.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0083F,184,80,80,90,FF
2021-08-13T00:57:22.866Z,1628816242.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:22.866Z,1628816242.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:22.869Z,1628816242.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:23.273Z,1628816243.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:24.098Z,1628816244.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005724.40*5E

2021-08-13T00:57:24.926Z,1628816244.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:26.502Z,1628816246.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,184,80,80,90,FF
2021-08-13T00:57:26.502Z,1628816246.502 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,184,80,80,90,FF
2021-08-13T00:57:26.502Z,1628816246.502 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:57:27.774Z,1628816247.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:28.122Z,1628816248.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:28.122Z,1628816248.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:28.122Z,1628816248.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:28.123Z,1628816248.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:28.517Z,1628816248.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,184,80,80,90,FF
2021-08-13T00:57:28.517Z,1628816248.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:28.518Z,1628816248.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:28.519Z,1628816248.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:28.934Z,1628816248.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:29.325Z,1628816249.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F59,000,007CD,187,80,80,93,FF
2021-08-13T00:57:29.326Z,1628816249.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:29.781Z,1628816249.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005730.05*5A

2021-08-13T00:57:29.827Z,1628816249.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 238.219622 deg, deltaT: 10.077622 s, approachRate: -0.678732 m/s, LOS rate: 0.267839 deg/s, posRepo size: 4
2021-08-13T00:57:29.829Z,1628816249.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.320000 m,
      bearing: 238.219622 deg,
      approachRate: -0.678732 m/s,
      LOS rate: 0.267839 deg/s,
      cmd update: 0.803517 deg/s,
      cmd heading: 224.563434 deg,
      new cmd heading: 224.220514 deg.

2021-08-13T00:57:32.231Z,1628816252.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:32.553Z,1628816252.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:32.553Z,1628816252.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:32.553Z,1628816252.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:32.554Z,1628816252.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:32.961Z,1628816252.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F59,000,007CD,187,80,80,93,FF
2021-08-13T00:57:32.962Z,1628816252.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:32.962Z,1628816252.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:32.965Z,1628816252.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:33.364Z,1628816253.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:33.778Z,1628816253.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00799,186,80,80,C5,FF
2021-08-13T00:57:33.779Z,1628816253.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:34.209Z,1628816254.209 [Micromodem](INFO): Nmea in: $SNTTA,0.059659,,,,005734.49*4E

2021-08-13T00:57:34.255Z,1628816254.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 238.953540 deg, deltaT: 4.582193 s, approachRate: -0.680897 m/s, LOS rate: 0.160167 deg/s, posRepo size: 4
2021-08-13T00:57:34.258Z,1628816254.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.199997 m,
      bearing: 238.953540 deg,
      approachRate: -0.680897 m/s,
      LOS rate: 0.160167 deg/s,
      cmd update: 0.480502 deg/s,
      cmd heading: 228.243439 deg,
      new cmd heading: 228.508138 deg.

2021-08-13T00:57:36.633Z,1628816256.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:36.993Z,1628816256.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:36.993Z,1628816256.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:36.993Z,1628816256.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:36.994Z,1628816256.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:37.405Z,1628816257.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00799,186,80,80,C5,FF
2021-08-13T00:57:37.405Z,1628816257.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:37.405Z,1628816257.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:37.407Z,1628816257.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:37.813Z,1628816257.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:38.209Z,1628816258.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,00769,186,80,80,A8,FF
2021-08-13T00:57:38.209Z,1628816258.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:38.658Z,1628816258.658 [Micromodem](INFO): Nmea in: $SNTTA,0.068109,,,,005738.93*45

2021-08-13T00:57:38.721Z,1628816258.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.320000 m, bearing: 239.234069 deg, deltaT: 4.355833 s, approachRate: -0.661182 m/s, LOS rate: 0.064403 deg/s, posRepo size: 4
2021-08-13T00:57:38.723Z,1628816258.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.320000 m,
      bearing: 239.234069 deg,
      approachRate: -0.661182 m/s,
      LOS rate: 0.064403 deg/s,
      cmd update: 0.193210 deg/s,
      cmd heading: 230.330671 deg,
      new cmd heading: 230.545466 deg.

2021-08-13T00:57:39.030Z,1628816259.030 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T00:57:41.098Z,1628816261.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:41.441Z,1628816261.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:41.441Z,1628816261.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:41.441Z,1628816261.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:41.442Z,1628816261.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:41.865Z,1628816261.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,00769,186,80,80,A8,FF
2021-08-13T00:57:41.866Z,1628816261.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:41.866Z,1628816261.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:41.881Z,1628816261.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:42.252Z,1628816262.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:42.657Z,1628816262.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00738,187,80,80,9D,FF
2021-08-13T00:57:42.658Z,1628816262.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:43.079Z,1628816263.079 [Micromodem](INFO): Nmea in: $SNTTA,0.281494,,,,005743.41*42

2021-08-13T00:57:43.115Z,1628816263.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.379997 m, bearing: 240.101695 deg, deltaT: 4.485034 s, approachRate: -0.655514 m/s, LOS rate: 0.193449 deg/s, posRepo size: 4
2021-08-13T00:57:43.117Z,1628816263.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.379997 m,
      bearing: 240.101695 deg,
      approachRate: -0.655514 m/s,
      LOS rate: 0.193449 deg/s,
      cmd update: 0.580347 deg/s,
      cmd heading: 231.198437 deg,
      new cmd heading: 231.266856 deg.

2021-08-13T00:57:45.503Z,1628816265.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:45.949Z,1628816265.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:45.949Z,1628816265.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:45.949Z,1628816265.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:45.950Z,1628816265.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:46.297Z,1628816266.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00738,187,80,80,9D,FF
2021-08-13T00:57:46.297Z,1628816266.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:46.297Z,1628816266.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:46.299Z,1628816266.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:46.724Z,1628816266.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:47.101Z,1628816267.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00705,186,80,80,91,FF
2021-08-13T00:57:47.102Z,1628816267.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:47.533Z,1628816267.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005747.83*54

2021-08-13T00:57:47.568Z,1628816267.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 241.727498 deg, deltaT: 4.348059 s, approachRate: -0.703762 m/s, LOS rate: 0.373915 deg/s, posRepo size: 4
2021-08-13T00:57:47.570Z,1628816267.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.320000 m,
      bearing: 241.727498 deg,
      approachRate: -0.703762 m/s,
      LOS rate: 0.373915 deg/s,
      cmd update: 1.121744 deg/s,
      cmd heading: 233.727383 deg,
      new cmd heading: 233.988009 deg.

2021-08-13T00:57:50.047Z,1628816270.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:50.333Z,1628816270.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:50.333Z,1628816270.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:50.333Z,1628816270.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:50.334Z,1628816270.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:50.737Z,1628816270.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00705,186,80,80,91,FF
2021-08-13T00:57:50.737Z,1628816270.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:50.737Z,1628816270.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:50.739Z,1628816270.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:51.240Z,1628816271.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:51.560Z,1628816271.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,006D1,187,80,80,AB,FF
2021-08-13T00:57:51.561Z,1628816271.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:51.997Z,1628816271.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005752.27*5E

2021-08-13T00:57:52.059Z,1628816272.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 239.034682 deg, deltaT: 4.482604 s, approachRate: -0.696025 m/s, LOS rate: -0.600726 deg/s, posRepo size: 4
2021-08-13T00:57:52.061Z,1628816272.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 239.034682 deg,
      approachRate: -0.696025 m/s,
      LOS rate: -0.600726 deg/s,
      cmd update: -1.802177 deg/s,
      cmd heading: 238.755337 deg,
      new cmd heading: 239.268939 deg.

2021-08-13T00:57:54.391Z,1628816274.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:54.777Z,1628816274.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:54.777Z,1628816274.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:54.777Z,1628816274.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:54.778Z,1628816274.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:55.185Z,1628816275.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,006D1,187,80,80,AB,FF
2021-08-13T00:57:55.186Z,1628816275.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:55.186Z,1628816275.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:55.187Z,1628816275.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:57:55.589Z,1628816275.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:57:55.989Z,1628816275.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,006A0,183,80,80,6A,FF
2021-08-13T00:57:55.989Z,1628816275.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:57:56.425Z,1628816276.425 [Micromodem](INFO): Nmea in: $SNTTA,0.170575,,,,005756.71*46

2021-08-13T00:57:56.455Z,1628816276.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 238.319097 deg, deltaT: 4.475103 s, approachRate: -0.656965 m/s, LOS rate: -0.159904 deg/s, posRepo size: 4
2021-08-13T00:57:56.457Z,1628816276.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 238.319097 deg,
      approachRate: -0.656965 m/s,
      LOS rate: -0.159904 deg/s,
      cmd update: -0.479711 deg/s,
      cmd heading: 230.704289 deg,
      new cmd heading: 230.008418 deg.

2021-08-13T00:57:58.849Z,1628816278.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:57:59.221Z,1628816279.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:57:59.221Z,1628816279.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:57:59.221Z,1628816279.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:57:59.222Z,1628816279.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:57:59.625Z,1628816279.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,006A0,183,80,80,6A,FF
2021-08-13T00:57:59.625Z,1628816279.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:57:59.625Z,1628816279.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:57:59.627Z,1628816279.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:00.041Z,1628816280.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:00.445Z,1628816280.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00670,186,80,80,BD,FF
2021-08-13T00:58:00.445Z,1628816280.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:00.885Z,1628816280.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005801.15*56

2021-08-13T00:58:00.944Z,1628816280.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 241.421506 deg, deltaT: 4.404900 s, approachRate: -0.653818 m/s, LOS rate: 0.704309 deg/s, posRepo size: 4
2021-08-13T00:58:00.946Z,1628816280.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.380005 m,
      bearing: 241.421506 deg,
      approachRate: -0.653818 m/s,
      LOS rate: 0.704309 deg/s,
      cmd update: 2.112925 deg/s,
      cmd heading: 228.587288 deg,
      new cmd heading: 228.367408 deg.

2021-08-13T00:58:03.290Z,1628816283.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:03.695Z,1628816283.695 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:03.696Z,1628816283.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:03.697Z,1628816283.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:03.697Z,1628816283.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:04.077Z,1628816284.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00670,186,80,80,BD,FF
2021-08-13T00:58:04.077Z,1628816284.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:04.077Z,1628816284.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:04.079Z,1628816284.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:04.487Z,1628816284.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:04.881Z,1628816284.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,0063A,186,80,80,AA,FF
2021-08-13T00:58:04.881Z,1628816284.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:05.318Z,1628816285.318 [Micromodem](INFO): Nmea in: $SNTTA,0.049608,,,,005805.61*4C

2021-08-13T00:58:05.333Z,1628816285.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.139999 m, bearing: 242.962178 deg, deltaT: 4.471668 s, approachRate: -0.724563 m/s, LOS rate: 0.344541 deg/s, posRepo size: 4
2021-08-13T00:58:05.335Z,1628816285.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 242.962178 deg,
      approachRate: -0.724563 m/s,
      LOS rate: 0.344541 deg/s,
      cmd update: 1.033622 deg/s,
      cmd heading: 238.017606 deg,
      new cmd heading: 238.839080 deg.

2021-08-13T00:58:07.761Z,1628816287.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:08.109Z,1628816288.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:08.109Z,1628816288.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:08.109Z,1628816288.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:08.110Z,1628816288.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:08.513Z,1628816288.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,0063A,186,80,80,AA,FF
2021-08-13T00:58:08.513Z,1628816288.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:08.513Z,1628816288.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:08.515Z,1628816288.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:08.925Z,1628816288.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:09.754Z,1628816289.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005810.04*56

2021-08-13T00:58:10.575Z,1628816290.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:12.149Z,1628816292.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,AA,FF
2021-08-13T00:58:12.149Z,1628816292.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,AA,FF
2021-08-13T00:58:12.149Z,1628816292.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T00:58:13.388Z,1628816293.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:13.780Z,1628816293.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:13.780Z,1628816293.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:13.780Z,1628816293.780 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:13.781Z,1628816293.781 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:14.169Z,1628816294.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,AA,FF
2021-08-13T00:58:14.169Z,1628816294.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:14.170Z,1628816294.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:14.171Z,1628816294.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:14.576Z,1628816294.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:14.981Z,1628816294.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,005CB,184,80,80,8B,FF
2021-08-13T00:58:14.982Z,1628816294.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:15.417Z,1628816295.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005815.70*50

2021-08-13T00:58:15.451Z,1628816295.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 240.413069 deg, deltaT: 10.079256 s, approachRate: -0.660763 m/s, LOS rate: -0.252906 deg/s, posRepo size: 4
2021-08-13T00:58:15.454Z,1628816295.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.479996 m,
      bearing: 240.413069 deg,
      approachRate: -0.660763 m/s,
      LOS rate: -0.252906 deg/s,
      cmd update: -0.758719 deg/s,
      cmd heading: 248.444540 deg,
      new cmd heading: 248.877666 deg.

2021-08-13T00:58:17.835Z,1628816297.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:18.217Z,1628816298.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:18.217Z,1628816298.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:18.218Z,1628816298.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:18.219Z,1628816298.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:18.617Z,1628816298.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,005CB,184,80,80,8B,FF
2021-08-13T00:58:18.617Z,1628816298.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:18.618Z,1628816298.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:18.619Z,1628816298.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:19.040Z,1628816299.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:19.425Z,1628816299.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,0059A,186,80,80,81,FF
2021-08-13T00:58:19.425Z,1628816299.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:19.884Z,1628816299.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005820.15*55

2021-08-13T00:58:19.944Z,1628816299.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.540005 m, bearing: 239.610577 deg, deltaT: 4.441904 s, approachRate: -0.661876 m/s, LOS rate: -0.180664 deg/s, posRepo size: 4
2021-08-13T00:58:19.946Z,1628816299.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.540005 m,
      bearing: 239.610577 deg,
      approachRate: -0.661876 m/s,
      LOS rate: -0.180664 deg/s,
      cmd update: -0.541992 deg/s,
      cmd heading: 245.077506 deg,
      new cmd heading: 244.718374 deg.

2021-08-13T00:58:22.296Z,1628816302.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:22.672Z,1628816302.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:22.673Z,1628816302.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:22.674Z,1628816302.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:22.675Z,1628816302.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:23.065Z,1628816303.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,0059A,186,80,80,81,FF
2021-08-13T00:58:23.065Z,1628816303.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:23.065Z,1628816303.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:23.067Z,1628816303.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:23.481Z,1628816303.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:23.881Z,1628816303.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0056B,186,80,80,97,FF
2021-08-13T00:58:23.882Z,1628816303.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:24.323Z,1628816304.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.719997 m, bearing: 240.938311 deg, deltaT: 4.508372 s, approachRate: -0.625505 m/s, LOS rate: 0.294504 deg/s, posRepo size: 4
2021-08-13T00:58:24.326Z,1628816304.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.719997 m,
      bearing: 240.938311 deg,
      approachRate: -0.625505 m/s,
      LOS rate: 0.294504 deg/s,
      cmd update: 0.883512 deg/s,
      cmd heading: 242.631831 deg,
      new cmd heading: 242.447082 deg.

2021-08-13T00:58:26.775Z,1628816306.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:27.105Z,1628816307.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:27.105Z,1628816307.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:27.105Z,1628816307.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:27.106Z,1628816307.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:27.514Z,1628816307.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0056B,186,80,80,97,FF
2021-08-13T00:58:27.514Z,1628816307.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:27.515Z,1628816307.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:27.516Z,1628816307.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:27.956Z,1628816307.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:28.326Z,1628816308.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,0053B,184,80,80,6D,FF
2021-08-13T00:58:28.326Z,1628816308.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:28.769Z,1628816308.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005829.04*5C

2021-08-13T00:58:28.795Z,1628816308.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 241.304983 deg, deltaT: 4.390354 s, approachRate: -0.655983 m/s, LOS rate: 0.083518 deg/s, posRepo size: 4
2021-08-13T00:58:28.797Z,1628816308.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.840000 m,
      bearing: 241.304983 deg,
      approachRate: -0.655983 m/s,
      LOS rate: 0.083518 deg/s,
      cmd update: 0.250553 deg/s,
      cmd heading: 246.503628 deg,
      new cmd heading: 246.883702 deg.

2021-08-13T00:58:31.159Z,1628816311.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:31.556Z,1628816311.556 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:31.557Z,1628816311.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:31.557Z,1628816311.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:31.558Z,1628816311.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:31.973Z,1628816311.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,0053B,184,80,80,6D,FF
2021-08-13T00:58:31.973Z,1628816311.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:31.973Z,1628816311.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:31.975Z,1628816311.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:32.409Z,1628816312.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:32.801Z,1628816312.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00502,186,80,80,B8,FF
2021-08-13T00:58:32.801Z,1628816312.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:33.245Z,1628816313.245 [Micromodem](INFO): Nmea in: $SNTTA,0.037935,,,,005833.50*43

2021-08-13T00:58:33.272Z,1628816313.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 239.720297 deg, deltaT: 4.518122 s, approachRate: -0.756952 m/s, LOS rate: -0.350740 deg/s, posRepo size: 4
2021-08-13T00:58:33.273Z,1628816313.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m.
2021-08-13T00:58:33.275Z,1628816313.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 239.720297 deg,
      approachRate: -0.756952 m/s,
      LOS rate: -0.350740 deg/s,
      cmd update: -1.052220 deg/s,
      cmd heading: 247.636676 deg,
      new cmd heading: 247.733151 deg.

2021-08-13T00:58:33.658Z,1628816313.658 [PowerOnly](INFO): Powering up loadControl
2021-08-13T00:58:33.722Z,1628816313.722 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:58:33.722Z,1628816313.722 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:58:33.722Z,1628816313.722 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:58:33.723Z,1628816313.723 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:58:33.723Z,1628816313.723 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:58:33.723Z,1628816313.723 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:58:34.118Z,1628816314.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:58:34.118Z,1628816314.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:58:34.118Z,1628816314.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:58:34.118Z,1628816314.118 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:58:35.715Z,1628816315.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:36.045Z,1628816316.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:36.045Z,1628816316.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:36.045Z,1628816316.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:36.046Z,1628816316.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:36.446Z,1628816316.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00502,186,80,80,B8,FF
2021-08-13T00:58:36.446Z,1628816316.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:36.446Z,1628816316.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:36.449Z,1628816316.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:36.847Z,1628816316.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:37.254Z,1628816317.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,004D2,186,80,80,99,FF
2021-08-13T00:58:37.255Z,1628816317.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:37.309Z,1628816317.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:37.701Z,1628816317.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005837.98*56

2021-08-13T00:58:37.727Z,1628816317.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 237.811614 deg, deltaT: 4.415389 s, approachRate: -0.652264 m/s, LOS rate: -0.432280 deg/s, posRepo size: 4
2021-08-13T00:58:37.729Z,1628816317.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.54 m.
2021-08-13T00:58:37.731Z,1628816317.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.539997 m,
      bearing: 237.811614 deg,
      approachRate: -0.652264 m/s,
      LOS rate: -0.432280 deg/s,
      cmd update: -1.296839 deg/s,
      cmd heading: 242.991048 deg,
      new cmd heading: 242.543531 deg.

2021-08-13T00:58:40.139Z,1628816320.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:40.486Z,1628816320.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:40.486Z,1628816320.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:40.487Z,1628816320.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:40.488Z,1628816320.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:40.889Z,1628816320.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,004D2,186,80,80,99,FF
2021-08-13T00:58:40.889Z,1628816320.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:40.889Z,1628816320.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:40.891Z,1628816320.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:41.291Z,1628816321.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:41.713Z,1628816321.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,004A0,186,80,80,A8,FF
2021-08-13T00:58:41.713Z,1628816321.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:41.765Z,1628816321.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:42.133Z,1628816322.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005842.42*53

2021-08-13T00:58:42.202Z,1628816322.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 239.587627 deg, deltaT: 4.455541 s, approachRate: -0.673319 m/s, LOS rate: 0.398608 deg/s, posRepo size: 4
2021-08-13T00:58:42.202Z,1628816322.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.54 m.
2021-08-13T00:58:42.208Z,1628816322.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.539997 m,
      bearing: 239.587627 deg,
      approachRate: -0.673319 m/s,
      LOS rate: 0.398608 deg/s,
      cmd update: 1.195823 deg/s,
      cmd heading: 237.207777 deg,
      new cmd heading: 236.637379 deg.

2021-08-13T00:58:44.547Z,1628816324.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:44.933Z,1628816324.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:44.933Z,1628816324.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:44.933Z,1628816324.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:44.934Z,1628816324.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:45.329Z,1628816325.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,004A0,186,80,80,A8,FF
2021-08-13T00:58:45.329Z,1628816325.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:45.329Z,1628816325.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:45.331Z,1628816325.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:45.740Z,1628816325.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:46.137Z,1628816326.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00479,183,80,80,7D,FF
2021-08-13T00:58:46.137Z,1628816326.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:46.241Z,1628816326.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:46.593Z,1628816326.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005846.86*5F

2021-08-13T00:58:46.616Z,1628816326.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 239.948179 deg, deltaT: 4.476671 s, approachRate: -0.522709 m/s, LOS rate: 0.080540 deg/s, posRepo size: 4
2021-08-13T00:58:46.618Z,1628816326.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-13T00:58:46.623Z,1628816326.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 31.20 m.
2021-08-13T00:58:46.625Z,1628816326.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T00:58:46.700Z,1628816326.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 239.948179 deg,
      approachRate: -0.522709 m/s,
      LOS rate: 0.080540 deg/s,
      cmd update: 0.241621 deg/s,
      cmd heading: 242.534440 deg,
      new cmd heading: 243.012248 deg.

2021-08-13T00:58:46.968Z,1628816326.968 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:58:48.986Z,1628816328.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:49.370Z,1628816329.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:49.370Z,1628816329.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:49.370Z,1628816329.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:49.371Z,1628816329.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:49.765Z,1628816329.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00479,183,80,80,7D,FF
2021-08-13T00:58:49.765Z,1628816329.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:49.766Z,1628816329.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:49.767Z,1628816329.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:50.181Z,1628816330.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:50.577Z,1628816330.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,0043D,184,80,80,9E,FF
2021-08-13T00:58:50.577Z,1628816330.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:50.598Z,1628816330.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:51.021Z,1628816331.021 [Micromodem](INFO): Nmea in: $SNTTA,0.305122,,,,005851.29*45

2021-08-13T00:58:51.089Z,1628816331.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 237.446855 deg, deltaT: 4.356186 s, approachRate: -0.826411 m/s, LOS rate: -0.574201 deg/s, posRepo size: 4
2021-08-13T00:58:51.091Z,1628816331.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.600000 m,
      bearing: 237.446855 deg,
      approachRate: -0.826411 m/s,
      LOS rate: -0.574201 deg/s,
      cmd update: -1.722602 deg/s,
      cmd heading: 243.592378 deg,
      new cmd heading: 243.710368 deg.

2021-08-13T00:58:53.443Z,1628816333.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:53.813Z,1628816333.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:53.813Z,1628816333.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:53.813Z,1628816333.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:53.814Z,1628816333.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:54.213Z,1628816334.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,0043D,184,80,80,9E,FF
2021-08-13T00:58:54.213Z,1628816334.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:54.213Z,1628816334.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:54.215Z,1628816334.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:54.621Z,1628816334.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:55.021Z,1628816335.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,0040D,185,80,80,A2,FF
2021-08-13T00:58:55.021Z,1628816335.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:55.051Z,1628816335.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:55.461Z,1628816335.461 [Micromodem](INFO): Nmea in: $SNTTA,0.100485,,,,005855.74*46

2021-08-13T00:58:55.497Z,1628816335.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 236.038579 deg, deltaT: 4.454077 s, approachRate: -0.646598 m/s, LOS rate: -0.316177 deg/s, posRepo size: 4
2021-08-13T00:58:55.499Z,1628816335.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 236.038579 deg,
      approachRate: -0.646598 m/s,
      LOS rate: -0.316177 deg/s,
      cmd update: -0.948530 deg/s,
      cmd heading: 235.920003 deg,
      new cmd heading: 235.147681 deg.

2021-08-13T00:58:57.942Z,1628816337.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:58:58.246Z,1628816338.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:58:58.246Z,1628816338.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:58:58.247Z,1628816338.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:58:58.248Z,1628816338.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:58:58.669Z,1628816338.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,0040D,185,80,80,A2,FF
2021-08-13T00:58:58.669Z,1628816338.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:58:58.670Z,1628816338.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:58:58.681Z,1628816338.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:58:59.072Z,1628816339.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:58:59.165Z,1628816339.165 [CTD_Seabird](ERROR): Failed to parse device response: ,23.9250,4.75209,4814.37
2021-08-13T00:58:59.465Z,1628816339.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,003E0,187,80,80,94,FF
2021-08-13T00:58:59.465Z,1628816339.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:58:59.486Z,1628816339.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:58:59.917Z,1628816339.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005900.21*51

2021-08-13T00:58:59.974Z,1628816339.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 242.262794 deg, deltaT: 4.434613 s, approachRate: -0.608847 m/s, LOS rate: 1.403553 deg/s, posRepo size: 4
2021-08-13T00:58:59.997Z,1628816339.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.020000 m,
      bearing: 242.262794 deg,
      approachRate: -0.608847 m/s,
      LOS rate: 1.403553 deg/s,
      cmd update: 4.210659 deg/s,
      cmd heading: 231.713866 deg,
      new cmd heading: 231.247625 deg.

2021-08-13T00:59:01.989Z,1628816341.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:02.293Z,1628816342.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:02.293Z,1628816342.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:02.293Z,1628816342.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:02.294Z,1628816342.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:02.725Z,1628816342.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,003E0,187,80,80,94,FF
2021-08-13T00:59:02.725Z,1628816342.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:02.725Z,1628816342.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:02.727Z,1628816342.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:03.108Z,1628816343.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:03.966Z,1628816343.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005904.25*51

2021-08-13T00:59:04.737Z,1628816344.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,036B5,186,80,80,A0,FF
2021-08-13T00:59:04.738Z,1628816344.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:04.792Z,1628816344.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:05.150Z,1628816345.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 802.799988 m, bearing: 244.497714 deg, deltaT: 5.305923 s, approachRate: 147.152527 m/s, LOS rate: 0.421212 deg/s, posRepo size: 4
2021-08-13T00:59:05.152Z,1628816345.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 802.799988 m,
      bearing: 244.497714 deg,
      approachRate: 147.152527 m/s,
      LOS rate: 0.421212 deg/s,
      cmd update: 1.263637 deg/s,
      cmd heading: 254.038748 deg,
      new cmd heading: 255.573992 deg.

2021-08-13T00:59:05.564Z,1628816345.564 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T00:59:05.564Z,1628816345.564 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:59:05.565Z,1628816345.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T00:59:05.565Z,1628816345.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T00:59:05.565Z,1628816345.565 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T00:59:05.566Z,1628816345.566 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T00:59:06.030Z,1628816346.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T00:59:06.030Z,1628816346.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:59:06.030Z,1628816346.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T00:59:06.030Z,1628816346.030 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T00:59:07.572Z,1628816347.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:07.969Z,1628816347.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:07.969Z,1628816347.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:07.969Z,1628816347.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:07.970Z,1628816347.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:08.354Z,1628816348.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,036B5,186,80,80,A0,FF
2021-08-13T00:59:08.354Z,1628816348.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:08.354Z,1628816348.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:08.356Z,1628816348.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:08.770Z,1628816348.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:09.161Z,1628816349.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00379,187,80,80,7F,FF
2021-08-13T00:59:09.161Z,1628816349.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:09.602Z,1628816349.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005909.88*5B

2021-08-13T00:59:09.629Z,1628816349.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.840000 m, bearing: 242.205994 deg, deltaT: 4.417082 s, approachRate: -178.162857 m/s, LOS rate: -0.518831 deg/s, posRepo size: 4
2021-08-13T00:59:09.631Z,1628816349.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 242.205994 deg,
      approachRate: -178.162857 m/s,
      LOS rate: -0.518831 deg/s,
      cmd update: -1.556493 deg/s,
      cmd heading: 259.621218 deg,
      new cmd heading: 260.159271 deg.

2021-08-13T00:59:10.043Z,1628816350.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T00:59:10.043Z,1628816350.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:59:10.043Z,1628816350.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T00:59:10.044Z,1628816350.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T00:59:10.044Z,1628816350.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T00:59:10.044Z,1628816350.044 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T00:59:10.409Z,1628816350.409 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T00:59:10.409Z,1628816350.409 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:59:10.410Z,1628816350.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T00:59:10.410Z,1628816350.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T00:59:12.051Z,1628816352.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:12.393Z,1628816352.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:12.393Z,1628816352.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:12.393Z,1628816352.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:12.394Z,1628816352.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:12.797Z,1628816352.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00379,187,80,80,7F,FF
2021-08-13T00:59:12.797Z,1628816352.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:12.797Z,1628816352.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:12.799Z,1628816352.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:13.205Z,1628816353.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:13.609Z,1628816353.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,0034E,187,80,80,A9,FF
2021-08-13T00:59:13.609Z,1628816353.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:13.675Z,1628816353.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:14.045Z,1628816354.045 [Micromodem](INFO): Nmea in: $SNTTA,0.047853,,,,005914.33*44

2021-08-13T00:59:14.103Z,1628816354.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 237.094198 deg, deltaT: 4.474586 s, approachRate: -0.576590 m/s, LOS rate: -1.142406 deg/s, posRepo size: 4
2021-08-13T00:59:14.105Z,1628816354.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.260000 m,
      bearing: 237.094198 deg,
      approachRate: -0.576590 m/s,
      LOS rate: -1.142406 deg/s,
      cmd update: -3.427219 deg/s,
      cmd heading: 252.727499 deg,
      new cmd heading: 251.994132 deg.

2021-08-13T00:59:16.471Z,1628816356.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:16.842Z,1628816356.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:16.842Z,1628816356.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:16.842Z,1628816356.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:16.843Z,1628816356.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:17.245Z,1628816357.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,0034E,187,80,80,A9,FF
2021-08-13T00:59:17.246Z,1628816357.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:17.246Z,1628816357.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:17.247Z,1628816357.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:17.682Z,1628816357.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:18.057Z,1628816358.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,00329,185,80,80,AF,FF
2021-08-13T00:59:18.057Z,1628816358.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:18.121Z,1628816358.121 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:18.498Z,1628816358.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005918.77*5B

2021-08-13T00:59:18.519Z,1628816358.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 237.060894 deg, deltaT: 4.436969 s, approachRate: -0.500342 m/s, LOS rate: -0.007506 deg/s, posRepo size: 4
2021-08-13T00:59:18.522Z,1628816358.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 237.060894 deg,
      approachRate: -0.500342 m/s,
      LOS rate: -0.007506 deg/s,
      cmd update: -0.022518 deg/s,
      cmd heading: 237.352213 deg,
      new cmd heading: 235.975931 deg.

2021-08-13T00:59:20.921Z,1628816360.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:21.285Z,1628816361.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:21.285Z,1628816361.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:21.285Z,1628816361.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:21.286Z,1628816361.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:21.741Z,1628816361.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,00329,185,80,80,AF,FF
2021-08-13T00:59:21.741Z,1628816361.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:21.741Z,1628816361.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:21.743Z,1628816361.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:22.125Z,1628816362.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:22.521Z,1628816362.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,002FA,185,80,80,B4,FF
2021-08-13T00:59:22.521Z,1628816362.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:22.542Z,1628816362.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:22.949Z,1628816362.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005923.27*56

2021-08-13T00:59:22.995Z,1628816362.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 233.915510 deg, deltaT: 4.420742 s, approachRate: -0.637902 m/s, LOS rate: -0.711506 deg/s, posRepo size: 4
2021-08-13T00:59:23.002Z,1628816363.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 233.915510 deg,
      approachRate: -0.637902 m/s,
      LOS rate: -0.711506 deg/s,
      cmd update: -2.134518 deg/s,
      cmd heading: 237.252666 deg,
      new cmd heading: 237.242381 deg.

2021-08-13T00:59:25.381Z,1628816365.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:25.758Z,1628816365.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:25.758Z,1628816365.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:25.759Z,1628816365.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:25.759Z,1628816365.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:26.153Z,1628816366.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,002FA,185,80,80,B4,FF
2021-08-13T00:59:26.153Z,1628816366.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:26.154Z,1628816366.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:26.156Z,1628816366.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:26.567Z,1628816366.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:26.961Z,1628816366.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,002D6,183,80,80,BD,FF
2021-08-13T00:59:26.962Z,1628816366.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:26.995Z,1628816366.995 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T00:59:27.011Z,1628816367.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:27.409Z,1628816367.409 [Micromodem](INFO): Nmea in: $SNTTA,0.003791,,,,005927.68*4B

2021-08-13T00:59:27.431Z,1628816367.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 229.945367 deg, deltaT: 4.469396 s, approachRate: -0.483287 m/s, LOS rate: -0.888295 deg/s, posRepo size: 4
2021-08-13T00:59:27.454Z,1628816367.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 229.945367 deg,
      approachRate: -0.483287 m/s,
      LOS rate: -0.888295 deg/s,
      cmd update: -2.664886 deg/s,
      cmd heading: 227.712697 deg,
      new cmd heading: 226.808955 deg.

2021-08-13T00:59:29.834Z,1628816369.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:30.197Z,1628816370.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:30.197Z,1628816370.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:30.197Z,1628816370.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:30.198Z,1628816370.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:30.597Z,1628816370.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,002D6,183,80,80,BD,FF
2021-08-13T00:59:30.597Z,1628816370.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:30.597Z,1628816370.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:30.599Z,1628816370.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:31.013Z,1628816371.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:31.409Z,1628816371.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,002C0,187,80,80,7C,FF
2021-08-13T00:59:31.409Z,1628816371.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:31.430Z,1628816371.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:31.842Z,1628816371.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005932.12*50

2021-08-13T00:59:31.912Z,1628816371.912 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:59:31.941Z,1628816371.941 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T00:59:31.941Z,1628816371.941 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:59:31.942Z,1628816371.942 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T00:59:31.942Z,1628816371.942 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:59:31.942Z,1628816371.942 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T00:59:31.942Z,1628816371.942 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T00:59:31.943Z,1628816371.943 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T00:59:31.943Z,1628816371.943 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T00:59:31.943Z,1628816371.943 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T00:59:31.957Z,1628816371.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 200.182777 deg, deltaT: 4.418536 s, approachRate: -0.298741 m/s, LOS rate: -6.735849 deg/s, posRepo size: 4
2021-08-13T00:59:31.959Z,1628816371.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 200.182777 deg,
      approachRate: -0.298741 m/s,
      LOS rate: -6.735849 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 215.937729 deg,
      new cmd heading: 214.536177 deg.

2021-08-13T00:59:32.286Z,1628816372.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T005932: (41.552319, -70.708603)
2021-08-13T00:59:32.286Z,1628816372.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T00:59:32.286Z,1628816372.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T00:59:32.287Z,1628816372.287 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T00:59:33.950Z,1628816373.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:34.241Z,1628816374.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:34.241Z,1628816374.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:34.241Z,1628816374.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:34.242Z,1628816374.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:34.636Z,1628816374.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,002C0,187,80,80,7C,FF
2021-08-13T00:59:34.636Z,1628816374.636 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:34.636Z,1628816374.636 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:34.638Z,1628816374.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:35.052Z,1628816375.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:35.445Z,1628816375.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002C6,186,80,80,88,FF
2021-08-13T00:59:35.446Z,1628816375.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:35.494Z,1628816375.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:35.913Z,1628816375.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005936.16*50

2021-08-13T00:59:35.973Z,1628816375.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 216.194735 deg, deltaT: 4.064625 s, approachRate: 0.088569 m/s, LOS rate: 3.939344 deg/s, posRepo size: 4
2021-08-13T00:59:35.975Z,1628816375.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 216.194735 deg,
      approachRate: 0.088569 m/s,
      LOS rate: 3.939344 deg/s,
      cmd update: 11.818034 deg/s,
      cmd heading: 167.212447 deg,
      new cmd heading: 161.393034 deg.

2021-08-13T00:59:36.723Z,1628816376.723 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T00:59:38.310Z,1628816378.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:38.770Z,1628816378.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:38.771Z,1628816378.771 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:38.771Z,1628816378.771 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:38.776Z,1628816378.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:39.094Z,1628816379.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002C6,186,80,80,88,FF
2021-08-13T00:59:39.094Z,1628816379.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:39.095Z,1628816379.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:39.097Z,1628816379.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:39.489Z,1628816379.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:39.929Z,1628816379.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,002E9,187,80,80,30,FF
2021-08-13T00:59:39.929Z,1628816379.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:40.022Z,1628816380.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:40.321Z,1628816380.321 [Micromodem](INFO): Nmea in: $SNTTA,0.034080,,,,005940.63*42

2021-08-13T00:59:40.357Z,1628816380.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 203.321549 deg, deltaT: 4.528147 s, approachRate: 0.463766 m/s, LOS rate: -2.842926 deg/s, posRepo size: 4
2021-08-13T00:59:40.359Z,1628816380.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 203.321549 deg,
      approachRate: 0.463766 m/s,
      LOS rate: -2.842926 deg/s,
      cmd update: -8.528777 deg/s,
      cmd heading: 220.728037 deg,
      new cmd heading: 224.767418 deg.

2021-08-13T00:59:42.005Z,1628816382.005 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T00:59:42.758Z,1628816382.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:43.132Z,1628816383.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:43.132Z,1628816383.132 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:43.133Z,1628816383.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:43.133Z,1628816383.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:43.525Z,1628816383.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,002E9,187,80,80,30,FF
2021-08-13T00:59:43.525Z,1628816383.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:43.525Z,1628816383.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:43.527Z,1628816383.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:43.968Z,1628816383.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:44.333Z,1628816384.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0031E,189,80,80,3B,FF
2021-08-13T00:59:44.333Z,1628816384.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:44.395Z,1628816384.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:44.786Z,1628816384.786 [Micromodem](INFO): Nmea in: $SNTTA,,0.100048,,,005945.05*45

2021-08-13T00:59:44.842Z,1628816384.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 146.744702 deg, deltaT: 4.372567 s, approachRate: 0.727262 m/s, LOS rate: -12.939046 deg/s, posRepo size: 4
2021-08-13T00:59:44.843Z,1628816384.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.939046 deg/s. Setting heading cmd to target bearing of 146.744702deg and heading rate command to 0 deg/s.
2021-08-13T00:59:47.220Z,1628816387.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:47.565Z,1628816387.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:47.565Z,1628816387.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:47.565Z,1628816387.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:47.566Z,1628816387.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:47.973Z,1628816387.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0031E,189,80,80,3B,FF
2021-08-13T00:59:47.973Z,1628816387.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:47.973Z,1628816387.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:47.979Z,1628816387.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:48.401Z,1628816388.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:48.780Z,1628816388.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00348,187,80,80,79,FF
2021-08-13T00:59:48.780Z,1628816388.780 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:48.875Z,1628816388.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:49.225Z,1628816389.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005949.51*5B

2021-08-13T00:59:49.241Z,1628816389.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 210.462239 deg, deltaT: 4.479919 s, approachRate: 0.562509 m/s, LOS rate: 14.222921 deg/s, posRepo size: 4
2021-08-13T00:59:49.242Z,1628816389.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.222921 deg/s. Setting heading cmd to target bearing of 210.462239deg and heading rate command to 0 deg/s.
2021-08-13T00:59:51.647Z,1628816391.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:52.021Z,1628816392.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:52.021Z,1628816392.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:52.021Z,1628816392.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:52.022Z,1628816392.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:52.413Z,1628816392.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00348,187,80,80,79,FF
2021-08-13T00:59:52.413Z,1628816392.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:52.414Z,1628816392.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:52.415Z,1628816392.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:52.833Z,1628816392.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:53.225Z,1628816393.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00384,186,80,80,5F,FF
2021-08-13T00:59:53.225Z,1628816393.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:53.273Z,1628816393.273 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:53.677Z,1628816393.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005953.94*59

2021-08-13T00:59:53.753Z,1628816393.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 211.082625 deg, deltaT: 4.398468 s, approachRate: 0.818466 m/s, LOS rate: 0.141046 deg/s, posRepo size: 4
2021-08-13T00:59:53.753Z,1628816393.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.50 m. Rolling out.
2021-08-13T00:59:53.754Z,1628816393.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T00:59:56.131Z,1628816396.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T00:59:56.465Z,1628816396.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T00:59:56.465Z,1628816396.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T00:59:56.465Z,1628816396.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T00:59:56.466Z,1628816396.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T00:59:56.863Z,1628816396.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00384,186,80,80,5F,FF
2021-08-13T00:59:56.863Z,1628816396.863 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T00:59:56.863Z,1628816396.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T00:59:56.866Z,1628816396.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T00:59:57.275Z,1628816397.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T00:59:57.704Z,1628816397.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,0039B,187,80,80,42,FF
2021-08-13T00:59:57.704Z,1628816397.704 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T00:59:57.739Z,1628816397.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T00:59:58.113Z,1628816398.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,005958.39*55

2021-08-13T00:59:58.149Z,1628816398.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 157.821711 deg, deltaT: 4.474136 s, approachRate: 0.308440 m/s, LOS rate: -11.904179 deg/s, posRepo size: 4
2021-08-13T01:00:00.505Z,1628816400.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:00.909Z,1628816400.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:00.909Z,1628816400.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:00.909Z,1628816400.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:00.910Z,1628816400.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:01.306Z,1628816401.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,0039B,187,80,80,42,FF
2021-08-13T01:00:01.306Z,1628816401.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:01.306Z,1628816401.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:01.308Z,1628816401.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:01.753Z,1628816401.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:01.789Z,1628816401.789 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:00:02.113Z,1628816402.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,003DB,186,80,80,51,FF
2021-08-13T01:00:02.113Z,1628816402.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:02.182Z,1628816402.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:02.545Z,1628816402.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010002.84*51

2021-08-13T01:00:02.585Z,1628816402.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 203.321467 deg, deltaT: 4.434745 s, approachRate: 0.865890 m/s, LOS rate: 10.259835 deg/s, posRepo size: 4
2021-08-13T01:00:04.978Z,1628816404.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:05.337Z,1628816405.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:05.337Z,1628816405.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:05.337Z,1628816405.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:05.338Z,1628816405.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:05.745Z,1628816405.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,003DB,186,80,80,51,FF
2021-08-13T01:00:05.745Z,1628816405.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:05.745Z,1628816405.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:05.747Z,1628816405.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:06.158Z,1628816406.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:06.982Z,1628816406.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010007.27*5D

2021-08-13T01:00:07.801Z,1628816407.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:08.171Z,1628816408.171 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:00:08.177Z,1628816408.177 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:00:08.470Z,1628816408.470 [CTD_Seabird](ERROR): Failed to parse device response: 23.9204,4.75202,4819.46
2021-08-13T01:00:09.381Z,1628816409.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,51,FF
2021-08-13T01:00:09.381Z,1628816409.381 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,51,FF
2021-08-13T01:00:09.381Z,1628816409.381 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:00:10.615Z,1628816410.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:10.997Z,1628816410.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:10.997Z,1628816410.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:10.997Z,1628816410.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:10.998Z,1628816410.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:11.405Z,1628816411.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,51,FF
2021-08-13T01:00:11.405Z,1628816411.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:11.405Z,1628816411.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:11.407Z,1628816411.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:11.812Z,1628816411.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:12.217Z,1628816412.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,00439,187,80,80,3E,FF
2021-08-13T01:00:12.217Z,1628816412.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:12.221Z,1628816412.221 [Micromodem](INFO): Nmea in: $SNTTA,0.050296,0.177837,,,010012.94*54

2021-08-13T01:00:12.286Z,1628816412.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:12.648Z,1628816412.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 231.017625 deg, deltaT: 10.103662 s, approachRate: 0.558213 m/s, LOS rate: 2.741200 deg/s, posRepo size: 4
2021-08-13T01:00:15.074Z,1628816415.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:15.441Z,1628816415.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:15.441Z,1628816415.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:15.441Z,1628816415.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:15.442Z,1628816415.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:15.851Z,1628816415.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,00439,187,80,80,3E,FF
2021-08-13T01:00:15.851Z,1628816415.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:15.853Z,1628816415.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:15.859Z,1628816415.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:16.262Z,1628816416.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:16.653Z,1628816416.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00479,183,80,80,50,FF
2021-08-13T01:00:16.653Z,1628816416.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:16.754Z,1628816416.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:17.085Z,1628816417.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010017.39*53

2021-08-13T01:00:17.108Z,1628816417.108 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:00:17.121Z,1628816417.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 218.263763 deg, deltaT: 4.467910 s, approachRate: 0.859463 m/s, LOS rate: -2.854548 deg/s, posRepo size: 4
2021-08-13T01:00:19.518Z,1628816419.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:19.929Z,1628816419.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:19.929Z,1628816419.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:19.929Z,1628816419.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:19.930Z,1628816419.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:20.285Z,1628816420.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00479,183,80,80,50,FF
2021-08-13T01:00:20.285Z,1628816420.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:20.285Z,1628816420.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:20.287Z,1628816420.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:20.712Z,1628816420.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:21.112Z,1628816421.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,004A5,186,80,80,5E,FF
2021-08-13T01:00:21.113Z,1628816421.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:21.132Z,1628816421.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:21.547Z,1628816421.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010021.82*56

2021-08-13T01:00:21.563Z,1628816421.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 211.154820 deg, deltaT: 4.378336 s, approachRate: 0.602968 m/s, LOS rate: -1.623663 deg/s, posRepo size: 4
2021-08-13T01:00:24.027Z,1628816424.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:24.329Z,1628816424.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:24.329Z,1628816424.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:24.329Z,1628816424.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:24.330Z,1628816424.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:24.753Z,1628816424.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,004A5,186,80,80,5E,FF
2021-08-13T01:00:24.753Z,1628816424.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:24.753Z,1628816424.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:24.755Z,1628816424.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:25.158Z,1628816425.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:25.541Z,1628816425.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,004D1,186,80,80,6F,FF
2021-08-13T01:00:25.542Z,1628816425.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:25.639Z,1628816425.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:26.001Z,1628816426.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010026.28*51

2021-08-13T01:00:26.063Z,1628816426.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 204.551639 deg, deltaT: 4.508248 s, approachRate: 0.585594 m/s, LOS rate: -1.464689 deg/s, posRepo size: 4
2021-08-13T01:00:28.406Z,1628816428.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:28.773Z,1628816428.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:28.773Z,1628816428.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:28.773Z,1628816428.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:28.774Z,1628816428.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:29.177Z,1628816429.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,004D1,186,80,80,6F,FF
2021-08-13T01:00:29.177Z,1628816429.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:29.177Z,1628816429.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:29.179Z,1628816429.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:29.585Z,1628816429.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:29.981Z,1628816429.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,114,000,00502,186,80,80,94,FF
2021-08-13T01:00:29.982Z,1628816429.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:30.059Z,1628816430.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:30.425Z,1628816430.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010030.71*5A

2021-08-13T01:00:30.459Z,1628816430.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 204.228831 deg, deltaT: 4.423308 s, approachRate: 0.664661 m/s, LOS rate: -0.072979 deg/s, posRepo size: 4
2021-08-13T01:00:32.878Z,1628816432.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:33.217Z,1628816433.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:33.218Z,1628816433.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:33.218Z,1628816433.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:33.219Z,1628816433.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:33.645Z,1628816433.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
114,000,00502,186,80,80,94,FF
2021-08-13T01:00:33.645Z,1628816433.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:33.646Z,1628816433.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:33.647Z,1628816433.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:34.024Z,1628816434.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:34.437Z,1628816434.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00536,189,80,80,67,FF
2021-08-13T01:00:34.438Z,1628816434.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:34.457Z,1628816434.457 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:00:34.858Z,1628816434.858 [Micromodem](INFO): Nmea in: $SNTTA,0.044400,,,,010035.17*45

2021-08-13T01:00:34.909Z,1628816434.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 253.335432 deg, deltaT: 4.393271 s, approachRate: 0.710178 m/s, LOS rate: 11.177686 deg/s, posRepo size: 4
2021-08-13T01:00:35.285Z,1628816435.285 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:00:35.285Z,1628816435.285 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:00:35.285Z,1628816435.285 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:00:35.286Z,1628816435.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:00:35.286Z,1628816435.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:00:35.286Z,1628816435.286 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:00:35.707Z,1628816435.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:00:35.707Z,1628816435.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:00:35.707Z,1628816435.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:00:35.707Z,1628816435.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:00:37.275Z,1628816437.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:37.684Z,1628816437.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:37.685Z,1628816437.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:37.686Z,1628816437.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:37.687Z,1628816437.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:37.731Z,1628816437.731 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:00:38.069Z,1628816438.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00536,189,80,80,67,FF
2021-08-13T01:00:38.070Z,1628816438.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:38.070Z,1628816438.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:38.071Z,1628816438.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:38.548Z,1628816438.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:38.941Z,1628816438.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,00569,189,80,80,75,FF
2021-08-13T01:00:38.942Z,1628816438.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:39.369Z,1628816439.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010039.60*53

2021-08-13T01:00:39.391Z,1628816439.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 252.000185 deg, deltaT: 4.514471 s, approachRate: 0.677820 m/s, LOS rate: -0.295771 deg/s, posRepo size: 4
2021-08-13T01:00:41.829Z,1628816441.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:42.181Z,1628816442.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:42.181Z,1628816442.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:42.181Z,1628816442.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:42.182Z,1628816442.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:42.585Z,1628816442.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,00569,189,80,80,75,FF
2021-08-13T01:00:42.585Z,1628816442.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:42.585Z,1628816442.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:42.587Z,1628816442.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:42.986Z,1628816442.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:43.394Z,1628816443.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0059E,18A,80,80,67,FF
2021-08-13T01:00:43.394Z,1628816443.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:43.830Z,1628816443.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 245.822770 deg, deltaT: 4.446846 s, approachRate: 0.715113 m/s, LOS rate: -1.389168 deg/s, posRepo size: 4
2021-08-13T01:00:45.941Z,1628816445.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:46.217Z,1628816446.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:46.217Z,1628816446.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:46.217Z,1628816446.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:46.218Z,1628816446.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:46.629Z,1628816446.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,0059E,18A,80,80,67,FF
2021-08-13T01:00:46.630Z,1628816446.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:46.630Z,1628816446.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:46.631Z,1628816446.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:47.024Z,1628816447.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:47.430Z,1628816447.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,005CC,188,80,80,6C,FF
2021-08-13T01:00:47.430Z,1628816447.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:47.878Z,1628816447.878 [Micromodem](INFO): Nmea in: $SNTTA,0.438203,,,,010048.16*44

2021-08-13T01:00:47.945Z,1628816447.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 245.480878 deg, deltaT: 4.057765 s, approachRate: 0.680178 m/s, LOS rate: -0.084256 deg/s, posRepo size: 4
2021-08-13T01:00:50.311Z,1628816450.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:50.685Z,1628816450.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:50.685Z,1628816450.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:50.686Z,1628816450.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:50.687Z,1628816450.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:51.057Z,1628816451.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,005CC,188,80,80,6C,FF
2021-08-13T01:00:51.057Z,1628816451.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:51.057Z,1628816451.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:51.059Z,1628816451.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:51.467Z,1628816451.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:52.303Z,1628816452.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010052.59*54

2021-08-13T01:00:53.133Z,1628816453.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:54.737Z,1628816454.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,6C,FF
2021-08-13T01:00:54.738Z,1628816454.738 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,6C,FF
2021-08-13T01:00:54.738Z,1628816454.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:00:56.025Z,1628816456.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:00:56.317Z,1628816456.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:00:56.317Z,1628816456.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:00:56.317Z,1628816456.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:00:56.318Z,1628816456.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:00:56.750Z,1628816456.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,6C,FF
2021-08-13T01:00:56.785Z,1628816456.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:00:56.786Z,1628816456.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:00:56.787Z,1628816456.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:00:57.137Z,1628816457.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:00:57.525Z,1628816457.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00640,186,80,80,8E,FF
2021-08-13T01:00:57.526Z,1628816457.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:00:57.979Z,1628816457.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010058.31*50

2021-08-13T01:00:58.061Z,1628816458.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 239.523942 deg, deltaT: 10.068619 s, approachRate: 0.691258 m/s, LOS rate: -0.591634 deg/s, posRepo size: 4
2021-08-13T01:01:00.383Z,1628816460.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:00.765Z,1628816460.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:00.765Z,1628816460.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:00.765Z,1628816460.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:00.766Z,1628816460.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:01.181Z,1628816461.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00640,186,80,80,8E,FF
2021-08-13T01:01:01.181Z,1628816461.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:01.182Z,1628816461.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:01.183Z,1628816461.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:01.561Z,1628816461.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:01.970Z,1628816461.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,00677,189,80,80,39,FF
2021-08-13T01:01:01.970Z,1628816461.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:02.401Z,1628816462.401 [Micromodem](INFO): Nmea in: $SNTTA,0.061128,,,,010102.71*48

2021-08-13T01:01:02.423Z,1628816462.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 244.693959 deg, deltaT: 4.513821 s, approachRate: 0.731088 m/s, LOS rate: 1.145375 deg/s, posRepo size: 4
2021-08-13T01:01:04.820Z,1628816464.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:05.197Z,1628816465.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:05.197Z,1628816465.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:05.197Z,1628816465.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:05.198Z,1628816465.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:05.594Z,1628816465.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,00677,189,80,80,39,FF
2021-08-13T01:01:05.594Z,1628816465.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:05.595Z,1628816465.595 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:05.596Z,1628816465.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:06.013Z,1628816466.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:06.409Z,1628816466.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,006A9,18A,80,80,48,FF
2021-08-13T01:01:06.409Z,1628816466.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:06.862Z,1628816466.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010107.12*5A

2021-08-13T01:01:06.933Z,1628816466.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 249.691389 deg, deltaT: 4.403395 s, approachRate: 0.681292 m/s, LOS rate: 1.134904 deg/s, posRepo size: 4
2021-08-13T01:01:09.272Z,1628816469.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:09.645Z,1628816469.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:09.645Z,1628816469.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:09.645Z,1628816469.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:09.646Z,1628816469.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:10.053Z,1628816470.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,006A9,18A,80,80,48,FF
2021-08-13T01:01:10.053Z,1628816470.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:10.054Z,1628816470.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:10.055Z,1628816470.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:10.475Z,1628816470.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:10.870Z,1628816470.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,006D6,185,80,80,87,FF
2021-08-13T01:01:10.870Z,1628816470.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:11.305Z,1628816471.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010111.58*53

2021-08-13T01:01:11.327Z,1628816471.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.500000 m, bearing: 237.332053 deg, deltaT: 4.459720 s, approachRate: 0.605419 m/s, LOS rate: -2.771326 deg/s, posRepo size: 4
2021-08-13T01:01:13.733Z,1628816473.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:14.089Z,1628816474.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:14.089Z,1628816474.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:14.089Z,1628816474.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:14.090Z,1628816474.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:14.493Z,1628816474.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,006D6,185,80,80,87,FF
2021-08-13T01:01:14.493Z,1628816474.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:14.493Z,1628816474.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:14.495Z,1628816474.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:14.916Z,1628816474.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:15.301Z,1628816475.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00709,186,80,80,6A,FF
2021-08-13T01:01:15.301Z,1628816475.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:15.750Z,1628816475.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010116.02*5B

2021-08-13T01:01:15.779Z,1628816475.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.559998 m, bearing: 229.043919 deg, deltaT: 4.399411 s, approachRate: 0.695547 m/s, LOS rate: -1.883919 deg/s, posRepo size: 4
2021-08-13T01:01:18.178Z,1628816478.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:18.529Z,1628816478.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:18.529Z,1628816478.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:18.529Z,1628816478.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:18.530Z,1628816478.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:18.945Z,1628816478.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00709,186,80,80,6A,FF
2021-08-13T01:01:18.945Z,1628816478.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:18.945Z,1628816478.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:18.947Z,1628816478.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:19.354Z,1628816479.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:19.753Z,1628816479.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,0073C,186,80,80,85,FF
2021-08-13T01:01:19.754Z,1628816479.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:20.194Z,1628816480.194 [Micromodem](INFO): Nmea in: $SNTTA,0.063216,,,,010120.47*41

2021-08-13T01:01:20.229Z,1628816480.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 232.158649 deg, deltaT: 4.485948 s, approachRate: 0.682131 m/s, LOS rate: 0.694330 deg/s, posRepo size: 4
2021-08-13T01:01:22.619Z,1628816482.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:22.977Z,1628816482.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:22.977Z,1628816482.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:22.977Z,1628816482.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:22.978Z,1628816482.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:23.377Z,1628816483.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,0073C,186,80,80,85,FF
2021-08-13T01:01:23.377Z,1628816483.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:23.378Z,1628816483.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:23.379Z,1628816483.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:23.789Z,1628816483.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:24.614Z,1628816484.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010124.91*50

2021-08-13T01:01:25.439Z,1628816485.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:27.029Z,1628816487.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,85,FF
2021-08-13T01:01:27.029Z,1628816487.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,85,FF
2021-08-13T01:01:27.029Z,1628816487.029 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:01:28.279Z,1628816488.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:28.633Z,1628816488.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:28.633Z,1628816488.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:28.633Z,1628816488.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:28.635Z,1628816488.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:29.045Z,1628816489.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,85,FF
2021-08-13T01:01:29.045Z,1628816489.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:29.045Z,1628816489.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:29.047Z,1628816489.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:29.459Z,1628816489.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:30.260Z,1628816490.260 [Micromodem](INFO): Nmea in: $SNTTA,0.356625,0.357475,,,010130.58*56

2021-08-13T01:01:31.094Z,1628816491.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:31.879Z,1628816491.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,06FCA,186,80,80,85,FF
2021-08-13T01:01:31.883Z,1628816491.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:32.307Z,1628816492.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1679.579956 m, bearing: 230.789442 deg, deltaT: 12.184156 s, approachRate: 131.807236 m/s, LOS rate: -0.112376 deg/s, posRepo size: 4
2021-08-13T01:01:32.308Z,1628816492.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1679.58 m. Resuming terminal guidance.
2021-08-13T01:01:32.308Z,1628816492.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:01:34.756Z,1628816494.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:35.101Z,1628816495.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:35.101Z,1628816495.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:35.101Z,1628816495.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:35.102Z,1628816495.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:35.509Z,1628816495.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,06FCA,186,80,80,85,FF
2021-08-13T01:01:35.510Z,1628816495.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:35.510Z,1628816495.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:35.511Z,1628816495.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:35.964Z,1628816495.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:36.309Z,1628816496.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6A,000,007FD,186,80,80,83,FF
2021-08-13T01:01:36.309Z,1628816496.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:36.765Z,1628816496.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010137.04*5E

2021-08-13T01:01:36.829Z,1628816496.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.199997 m, bearing: 224.638460 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:01:36.830Z,1628816496.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 224.638460deg and heading rate command to 0 deg/s.
2021-08-13T01:01:39.166Z,1628816499.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:39.545Z,1628816499.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:39.545Z,1628816499.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:39.546Z,1628816499.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:39.547Z,1628816499.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:39.969Z,1628816499.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6A,000,007FD,186,80,80,83,FF
2021-08-13T01:01:39.969Z,1628816499.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:39.969Z,1628816499.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:39.971Z,1628816499.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:40.365Z,1628816500.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:40.753Z,1628816500.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00837,186,80,80,95,FF
2021-08-13T01:01:40.753Z,1628816500.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:41.194Z,1628816501.194 [Micromodem](INFO): Nmea in: $SNTTA,0.067141,,,,010141.50*45

2021-08-13T01:01:41.209Z,1628816501.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.680000 m, bearing: 232.380193 deg, deltaT: 4.469602 s, approachRate: 0.778594 m/s, LOS rate: 1.732085 deg/s, posRepo size: 2
2021-08-13T01:01:41.211Z,1628816501.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.680000 m,
      bearing: 232.380193 deg,
      approachRate: 0.778594 m/s,
      LOS rate: 1.732085 deg/s,
      cmd update: 5.196256 deg/s,
      cmd heading: 224.638460 deg,
      new cmd heading: 224.638460 deg.

2021-08-13T01:01:43.606Z,1628816503.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:43.985Z,1628816503.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:43.985Z,1628816503.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:43.985Z,1628816503.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:43.986Z,1628816503.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:44.401Z,1628816504.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00837,186,80,80,95,FF
2021-08-13T01:01:44.401Z,1628816504.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:44.401Z,1628816504.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:44.403Z,1628816504.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:44.797Z,1628816504.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:45.205Z,1628816505.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,00867,185,80,80,70,FF
2021-08-13T01:01:45.205Z,1628816505.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:45.648Z,1628816505.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010145.93*55

2021-08-13T01:01:45.720Z,1628816505.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.559998 m, bearing: 216.598576 deg, deltaT: 4.418133 s, approachRate: 0.651858 m/s, LOS rate: -3.572010 deg/s, posRepo size: 3
2021-08-13T01:01:45.722Z,1628816505.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 216.598576 deg,
      approachRate: 0.651858 m/s,
      LOS rate: -3.572010 deg/s,
      cmd update: -10.716031 deg/s,
      cmd heading: 247.514007 deg,
      new cmd heading: 250.100522 deg.

2021-08-13T01:01:48.082Z,1628816508.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:48.442Z,1628816508.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:48.442Z,1628816508.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:48.443Z,1628816508.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:48.443Z,1628816508.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:48.833Z,1628816508.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,00867,185,80,80,70,FF
2021-08-13T01:01:48.833Z,1628816508.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:48.833Z,1628816508.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:48.835Z,1628816508.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:49.255Z,1628816509.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:49.641Z,1628816509.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00893,187,80,80,63,FF
2021-08-13T01:01:49.641Z,1628816509.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:50.091Z,1628816510.091 [Micromodem](INFO): Nmea in: $SNTTA,0.069456,,,,010150.36*48

2021-08-13T01:01:50.157Z,1628816510.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 260.150212 deg, deltaT: 4.461179 s, approachRate: 0.591773 m/s, LOS rate: 9.762360 deg/s, posRepo size: 4
2021-08-13T01:01:50.159Z,1628816510.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.200005 m,
      bearing: 260.150212 deg,
      approachRate: 0.591773 m/s,
      LOS rate: 9.762360 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 199.538370 deg,
      new cmd heading: 194.633579 deg.

2021-08-13T01:01:52.514Z,1628816512.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:52.877Z,1628816512.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:52.877Z,1628816512.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:52.877Z,1628816512.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:52.878Z,1628816512.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:53.282Z,1628816513.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00893,187,80,80,63,FF
2021-08-13T01:01:53.282Z,1628816513.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:53.283Z,1628816513.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:53.286Z,1628816513.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:53.708Z,1628816513.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:54.091Z,1628816514.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,008BC,189,80,80,70,FF
2021-08-13T01:01:54.092Z,1628816514.092 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:54.097Z,1628816514.097 [Micromodem](INFO): Nmea in: $SNTTA,0.235540,0.235615,,,010154.81*55

2021-08-13T01:01:54.520Z,1628816514.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.660004 m, bearing: 269.776298 deg, deltaT: 4.488554 s, approachRate: 0.548060 m/s, LOS rate: 2.144585 deg/s, posRepo size: 4
2021-08-13T01:01:54.522Z,1628816514.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.660004 m,
      bearing: 269.776298 deg,
      approachRate: 0.548060 m/s,
      LOS rate: 2.144585 deg/s,
      cmd update: 6.433755 deg/s,
      cmd heading: 253.400120 deg,
      new cmd heading: 257.384732 deg.

2021-08-13T01:01:56.961Z,1628816516.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:01:57.317Z,1628816517.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:01:57.317Z,1628816517.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:01:57.318Z,1628816517.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:01:57.319Z,1628816517.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:01:57.745Z,1628816517.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,008BC,189,80,80,70,FF
2021-08-13T01:01:57.745Z,1628816517.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:01:57.745Z,1628816517.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:01:57.747Z,1628816517.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:01:58.129Z,1628816518.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:01:58.529Z,1628816518.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,008E2,186,80,80,A4,FF
2021-08-13T01:01:58.529Z,1628816518.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:01:58.952Z,1628816518.952 [Micromodem](INFO): Nmea in: $SNTTA,0.091018,,,,010159.27*48

2021-08-13T01:01:59.042Z,1628816519.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 237.231267 deg, deltaT: 4.374718 s, approachRate: 0.521178 m/s, LOS rate: -7.439344 deg/s, posRepo size: 4
2021-08-13T01:01:59.051Z,1628816519.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.940010 m,
      bearing: 237.231267 deg,
      approachRate: 0.521178 m/s,
      LOS rate: -7.439344 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.443920 deg,
      new cmd heading: 284.631723 deg.

2021-08-13T01:02:01.375Z,1628816521.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:01.757Z,1628816521.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:01.757Z,1628816521.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:01.757Z,1628816521.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:01.758Z,1628816521.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:02.161Z,1628816522.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,008E2,186,80,80,A4,FF
2021-08-13T01:02:02.161Z,1628816522.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:02.161Z,1628816522.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:02.163Z,1628816522.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:02.592Z,1628816522.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:02.997Z,1628816522.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,00919,186,80,80,A0,FF
2021-08-13T01:02:02.998Z,1628816522.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:03.421Z,1628816523.421 [Micromodem](INFO): Nmea in: $SNTTA,0.080727,,,,010203.69*45

2021-08-13T01:02:03.443Z,1628816523.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.240005 m, bearing: 262.963376 deg, deltaT: 4.489436 s, approachRate: 0.735058 m/s, LOS rate: 5.731702 deg/s, posRepo size: 4
2021-08-13T01:02:03.466Z,1628816523.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.240005 m,
      bearing: 262.963376 deg,
      approachRate: 0.735058 m/s,
      LOS rate: 5.731702 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 227.652886 deg,
      new cmd heading: 222.679918 deg.

2021-08-13T01:02:05.928Z,1628816525.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:06.229Z,1628816526.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:06.229Z,1628816526.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:06.229Z,1628816526.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:06.230Z,1628816526.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:06.633Z,1628816526.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,00919,186,80,80,A0,FF
2021-08-13T01:02:06.633Z,1628816526.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:06.633Z,1628816526.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:06.635Z,1628816526.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:07.036Z,1628816527.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:07.441Z,1628816527.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00938,186,80,80,78,FF
2021-08-13T01:02:07.441Z,1628816527.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:07.910Z,1628816527.910 [Micromodem](INFO): Nmea in: $SNTTA,0.078508,,,,010208.16*4E

2021-08-13T01:02:08.031Z,1628816528.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 270.713209 deg, deltaT: 4.422604 s, approachRate: 0.420567 m/s, LOS rate: 1.752324 deg/s, posRepo size: 4
2021-08-13T01:02:08.033Z,1628816528.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.100006 m,
      bearing: 270.713209 deg,
      approachRate: 0.420567 m/s,
      LOS rate: 1.752324 deg/s,
      cmd update: 5.256971 deg/s,
      cmd heading: 280.805424 deg,
      new cmd heading: 287.674392 deg.

2021-08-13T01:02:10.314Z,1628816530.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:10.685Z,1628816530.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:10.685Z,1628816530.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:10.686Z,1628816530.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:10.687Z,1628816530.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:11.080Z,1628816531.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00938,186,80,80,78,FF
2021-08-13T01:02:11.080Z,1628816531.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:11.081Z,1628816531.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:11.082Z,1628816531.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:11.477Z,1628816531.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:11.921Z,1628816531.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,0095A,187,80,80,83,FF
2021-08-13T01:02:11.921Z,1628816531.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:12.301Z,1628816532.301 [Micromodem](INFO): Nmea in: $SNTTA,0.338639,0.339332,,,010212.61*56

2021-08-13T01:02:12.323Z,1628816532.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 274.127102 deg, deltaT: 4.584839 s, approachRate: 0.444945 m/s, LOS rate: 0.744605 deg/s, posRepo size: 4
2021-08-13T01:02:12.326Z,1628816532.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.140007 m,
      bearing: 274.127102 deg,
      approachRate: 0.444945 m/s,
      LOS rate: 0.744605 deg/s,
      cmd update: 2.233814 deg/s,
      cmd heading: 304.991743 deg,
      new cmd heading: 306.380908 deg.

2021-08-13T01:02:14.769Z,1628816534.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:15.109Z,1628816535.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:15.109Z,1628816535.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:15.109Z,1628816535.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:15.110Z,1628816535.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:15.521Z,1628816535.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,0095A,187,80,80,83,FF
2021-08-13T01:02:15.522Z,1628816535.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:15.522Z,1628816535.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:15.523Z,1628816535.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:15.953Z,1628816535.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:16.329Z,1628816536.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,00970,189,80,80,6D,FF
2021-08-13T01:02:16.329Z,1628816536.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:16.773Z,1628816536.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010217.05*5E

2021-08-13T01:02:16.854Z,1628816536.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.459999 m, bearing: 310.779481 deg, deltaT: 4.282829 s, approachRate: 0.308206 m/s, LOS rate: 8.557984 deg/s, posRepo size: 4
2021-08-13T01:02:16.862Z,1628816536.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.459999 m,
      bearing: 310.779481 deg,
      approachRate: 0.308206 m/s,
      LOS rate: 8.557984 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.568307 deg,
      new cmd heading: 315.622397 deg.

2021-08-13T01:02:19.178Z,1628816539.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:19.557Z,1628816539.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:19.557Z,1628816539.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:19.557Z,1628816539.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:19.558Z,1628816539.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:19.965Z,1628816539.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,00970,189,80,80,6D,FF
2021-08-13T01:02:19.965Z,1628816539.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:19.965Z,1628816539.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:19.967Z,1628816539.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:20.368Z,1628816540.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:20.769Z,1628816540.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00975,186,80,80,BC,FF
2021-08-13T01:02:20.769Z,1628816540.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:21.205Z,1628816541.205 [Micromodem](INFO): Nmea in: $SNTTA,0.077799,,,,010221.49*4A

2021-08-13T01:02:21.239Z,1628816541.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 327.653491 deg, deltaT: 4.478022 s, approachRate: 0.066995 m/s, LOS rate: 3.768184 deg/s, posRepo size: 4
2021-08-13T01:02:21.241Z,1628816541.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 327.653491 deg,
      approachRate: 0.066995 m/s,
      LOS rate: 3.768184 deg/s,
      cmd update: 11.304551 deg/s,
      cmd heading: 8.255876 deg,
      new cmd heading: 13.284680 deg.

2021-08-13T01:02:23.610Z,1628816543.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:23.997Z,1628816543.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:23.997Z,1628816543.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:23.997Z,1628816543.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:23.998Z,1628816543.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:24.405Z,1628816544.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00975,186,80,80,BC,FF
2021-08-13T01:02:24.405Z,1628816544.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:24.405Z,1628816544.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:24.407Z,1628816544.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:24.817Z,1628816544.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:25.213Z,1628816545.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB2,000,00975,189,80,80,98,FF
2021-08-13T01:02:25.213Z,1628816545.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:25.648Z,1628816545.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010225.93*50

2021-08-13T01:02:25.675Z,1628816545.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 18.413915 deg, deltaT: 4.442638 s, approachRate: 0.000000 m/s, LOS rate: 11.425740 deg/s, posRepo size: 4
2021-08-13T01:02:25.682Z,1628816545.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 18.413915 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 11.425740 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.477465 deg,
      new cmd heading: 63.088975 deg.

2021-08-13T01:02:28.121Z,1628816548.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:28.441Z,1628816548.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:28.441Z,1628816548.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:28.441Z,1628816548.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:28.442Z,1628816548.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:28.846Z,1628816548.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB2,000,00975,189,80,80,98,FF
2021-08-13T01:02:28.846Z,1628816548.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:28.846Z,1628816548.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:28.849Z,1628816548.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:29.248Z,1628816549.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:29.649Z,1628816549.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B35,000,00968,18A,80,80,74,FF
2021-08-13T01:02:29.650Z,1628816549.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:30.093Z,1628816550.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010230.38*55

2021-08-13T01:02:30.178Z,1628816550.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 45.470096 deg, deltaT: 4.444505 s, approachRate: -0.175497 m/s, LOS rate: 6.087558 deg/s, posRepo size: 4
2021-08-13T01:02:30.189Z,1628816550.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 45.470096 deg,
      approachRate: -0.175497 m/s,
      LOS rate: 6.087558 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 111.804602 deg,
      new cmd heading: 117.464066 deg.

2021-08-13T01:02:32.510Z,1628816552.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:32.885Z,1628816552.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:32.885Z,1628816552.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:32.885Z,1628816552.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:32.886Z,1628816552.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:33.285Z,1628816553.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B35,000,00968,18A,80,80,74,FF
2021-08-13T01:02:33.285Z,1628816553.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:33.285Z,1628816553.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:33.287Z,1628816553.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:33.729Z,1628816553.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:34.097Z,1628816554.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,00945,188,80,80,A0,FF
2021-08-13T01:02:34.098Z,1628816554.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:34.529Z,1628816554.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010234.81*53

2021-08-13T01:02:34.564Z,1628816554.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.880005 m, bearing: 39.894005 deg, deltaT: 4.468964 s, approachRate: -0.469907 m/s, LOS rate: -1.247737 deg/s, posRepo size: 4
2021-08-13T01:02:34.566Z,1628816554.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.880005 m,
      bearing: 39.894005 deg,
      approachRate: -0.469907 m/s,
      LOS rate: -1.247737 deg/s,
      cmd update: -3.743211 deg/s,
      cmd heading: 165.420423 deg,
      new cmd heading: 170.038431 deg.

2021-08-13T01:02:36.961Z,1628816556.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:37.329Z,1628816557.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:37.329Z,1628816557.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:37.329Z,1628816557.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:37.330Z,1628816557.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:37.741Z,1628816557.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,00945,188,80,80,A0,FF
2021-08-13T01:02:37.741Z,1628816557.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:37.741Z,1628816557.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:37.743Z,1628816557.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:38.150Z,1628816558.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:38.541Z,1628816558.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,0091E,188,80,80,A1,FF
2021-08-13T01:02:38.541Z,1628816558.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:38.985Z,1628816558.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010239.27*52

2021-08-13T01:02:39.011Z,1628816559.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 54.025724 deg, deltaT: 4.408098 s, approachRate: -0.530842 m/s, LOS rate: 3.205854 deg/s, posRepo size: 4
2021-08-13T01:02:39.037Z,1628816559.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.540001 m,
      bearing: 54.025724 deg,
      approachRate: -0.530842 m/s,
      LOS rate: 3.205854 deg/s,
      cmd update: 9.617562 deg/s,
      cmd heading: 148.898841 deg,
      new cmd heading: 147.318240 deg.

2021-08-13T01:02:41.407Z,1628816561.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:41.773Z,1628816561.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:41.773Z,1628816561.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:41.773Z,1628816561.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:41.774Z,1628816561.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:42.189Z,1628816562.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,0091E,188,80,80,A1,FF
2021-08-13T01:02:42.189Z,1628816562.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:42.189Z,1628816562.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:42.191Z,1628816562.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:42.584Z,1628816562.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:42.993Z,1628816562.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,008F0,182,80,80,CD,FF
2021-08-13T01:02:42.993Z,1628816562.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:43.437Z,1628816563.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010243.72*5F

2021-08-13T01:02:43.453Z,1628816563.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 48.882318 deg, deltaT: 4.463998 s, approachRate: -0.618280 m/s, LOS rate: -1.152197 deg/s, posRepo size: 4
2021-08-13T01:02:43.455Z,1628816563.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.779999 m,
      bearing: 48.882318 deg,
      approachRate: -0.618280 m/s,
      LOS rate: -1.152197 deg/s,
      cmd update: -3.456591 deg/s,
      cmd heading: 191.792754 deg,
      new cmd heading: 195.680789 deg.

2021-08-13T01:02:45.926Z,1628816565.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:46.221Z,1628816566.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:46.221Z,1628816566.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:46.222Z,1628816566.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:46.222Z,1628816566.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:46.621Z,1628816566.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,008F0,182,80,80,CD,FF
2021-08-13T01:02:46.621Z,1628816566.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:46.621Z,1628816566.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:46.623Z,1628816566.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:47.036Z,1628816567.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:47.429Z,1628816567.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,008C9,186,80,80,9C,FF
2021-08-13T01:02:47.429Z,1628816567.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:47.897Z,1628816567.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010248.15*55

2021-08-13T01:02:47.969Z,1628816567.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 46.264614 deg, deltaT: 4.450204 s, approachRate: -0.525818 m/s, LOS rate: -0.588221 deg/s, posRepo size: 4
2021-08-13T01:02:47.971Z,1628816567.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.440002 m,
      bearing: 46.264614 deg,
      approachRate: -0.525818 m/s,
      LOS rate: -0.588221 deg/s,
      cmd update: -1.764663 deg/s,
      cmd heading: 176.396301 deg,
      new cmd heading: 174.785875 deg.

2021-08-13T01:02:50.317Z,1628816570.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:50.672Z,1628816570.672 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:50.673Z,1628816570.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:50.674Z,1628816570.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:50.675Z,1628816570.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:51.074Z,1628816571.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,008C9,186,80,80,9C,FF
2021-08-13T01:02:51.074Z,1628816571.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:51.074Z,1628816571.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:51.077Z,1628816571.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:51.473Z,1628816571.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:51.953Z,1628816571.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CB,000,0089C,18A,80,80,AD,FF
2021-08-13T01:02:51.953Z,1628816571.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:51.962Z,1628816571.962 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:02:52.313Z,1628816572.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010252.60*5C

2021-08-13T01:02:52.335Z,1628816572.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.740005 m, bearing: 40.716540 deg, deltaT: 4.520128 s, approachRate: -0.597328 m/s, LOS rate: -1.227415 deg/s, posRepo size: 4
2021-08-13T01:02:52.337Z,1628816572.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.740005 m,
      bearing: 40.716540 deg,
      approachRate: -0.597328 m/s,
      LOS rate: -1.227415 deg/s,
      cmd update: -3.682245 deg/s,
      cmd heading: 168.440342 deg,
      new cmd heading: 167.868288 deg.

2021-08-13T01:02:54.773Z,1628816574.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:55.106Z,1628816575.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:55.106Z,1628816575.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:55.106Z,1628816575.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:55.107Z,1628816575.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:55.513Z,1628816575.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CB,000,0089C,18A,80,80,AD,FF
2021-08-13T01:02:55.513Z,1628816575.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:55.513Z,1628816575.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:55.515Z,1628816575.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:02:55.972Z,1628816575.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:02:56.317Z,1628816576.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0087F,189,80,80,C1,FF
2021-08-13T01:02:56.317Z,1628816576.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:02:56.774Z,1628816576.774 [Micromodem](INFO): Nmea in: $SNTTA,0.071153,,,,010257.04*44

2021-08-13T01:02:56.813Z,1628816576.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 43.946947 deg, deltaT: 4.344155 s, approachRate: -0.400539 m/s, LOS rate: 0.743621 deg/s, posRepo size: 4
2021-08-13T01:02:56.815Z,1628816576.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.000000 m,
      bearing: 43.946947 deg,
      approachRate: -0.400539 m/s,
      LOS rate: 0.743621 deg/s,
      cmd update: 2.230864 deg/s,
      cmd heading: 152.416131 deg,
      new cmd heading: 150.760066 deg.

2021-08-13T01:02:59.176Z,1628816579.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:02:59.549Z,1628816579.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:02:59.549Z,1628816579.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:02:59.549Z,1628816579.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:02:59.550Z,1628816579.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:02:59.961Z,1628816579.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0087F,189,80,80,C1,FF
2021-08-13T01:02:59.961Z,1628816579.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:02:59.961Z,1628816579.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:02:59.963Z,1628816579.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:00.357Z,1628816580.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:00.765Z,1628816580.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,00876,189,80,80,B8,FF
2021-08-13T01:03:00.765Z,1628816580.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:01.220Z,1628816581.220 [Micromodem](INFO): Nmea in: $SNTTA,0.068487,,,,010301.49*4B

2021-08-13T01:03:01.235Z,1628816581.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 157.676857 deg, deltaT: 4.471115 s, approachRate: -0.120775 m/s, LOS rate: 25.436588 deg/s, posRepo size: 4
2021-08-13T01:03:01.237Z,1628816581.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.436588 deg/s. Setting heading cmd to target bearing of 157.676857deg and heading rate command to 0 deg/s.
2021-08-13T01:03:01.990Z,1628816581.990 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:03:03.622Z,1628816583.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:03.993Z,1628816583.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:03.993Z,1628816583.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:03.993Z,1628816583.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:03.994Z,1628816583.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:04.401Z,1628816584.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,00876,189,80,80,B8,FF
2021-08-13T01:03:04.401Z,1628816584.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:04.402Z,1628816584.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:04.403Z,1628816584.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:04.805Z,1628816584.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:05.213Z,1628816585.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,00878,189,80,80,4D,FF
2021-08-13T01:03:05.213Z,1628816585.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:05.641Z,1628816585.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010305.93*53

2021-08-13T01:03:05.735Z,1628816585.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.580002 m, bearing: 180.210798 deg, deltaT: 4.420408 s, approachRate: 0.027147 m/s, LOS rate: 5.097706 deg/s, posRepo size: 4
2021-08-13T01:03:05.745Z,1628816585.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.580002 m,
      bearing: 180.210798 deg,
      approachRate: 0.027147 m/s,
      LOS rate: 5.097706 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.676857 deg,
      new cmd heading: 157.676857 deg.

2021-08-13T01:03:08.095Z,1628816588.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:08.437Z,1628816588.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:08.437Z,1628816588.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:08.437Z,1628816588.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:08.438Z,1628816588.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:08.842Z,1628816588.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,00878,189,80,80,4D,FF
2021-08-13T01:03:08.842Z,1628816588.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:08.842Z,1628816588.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:08.845Z,1628816588.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:09.248Z,1628816589.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:09.645Z,1628816589.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,00884,189,80,80,B4,FF
2021-08-13T01:03:09.646Z,1628816589.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:10.090Z,1628816590.090 [Micromodem](INFO): Nmea in: $SNTTA,0.479890,,,,010310.37*4C

2021-08-13T01:03:10.156Z,1628816590.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.300003 m, bearing: 126.146654 deg, deltaT: 4.458788 s, approachRate: 0.161479 m/s, LOS rate: -12.125300 deg/s, posRepo size: 4
2021-08-13T01:03:10.157Z,1628816590.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.125300 deg/s. Setting heading cmd to target bearing of 126.146654deg and heading rate command to 0 deg/s.
2021-08-13T01:03:12.088Z,1628816592.088 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T01:03:12.506Z,1628816592.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:12.885Z,1628816592.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:12.885Z,1628816592.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:12.886Z,1628816592.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:12.887Z,1628816592.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:13.308Z,1628816593.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,00884,189,80,80,B4,FF
2021-08-13T01:03:13.308Z,1628816593.308 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:13.309Z,1628816593.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:13.310Z,1628816593.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:13.713Z,1628816593.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:14.099Z,1628816594.099 [Micromodem](INFO): Nmea in: $SNTTA,0.225562,0.225630,,,010314.84*51

2021-08-13T01:03:15.360Z,1628816595.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:16.130Z,1628816596.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,06BFB,186,80,80,A2,FF
2021-08-13T01:03:16.130Z,1628816596.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:16.555Z,1628816596.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1621.080078 m, bearing: 200.125431 deg, deltaT: 6.592230 s, approachRate: 231.754654 m/s, LOS rate: 11.222117 deg/s, posRepo size: 4
2021-08-13T01:03:16.558Z,1628816596.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1621.080078 m,
      bearing: 200.125431 deg,
      approachRate: 231.754654 m/s,
      LOS rate: 11.222117 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.146654 deg,
      new cmd heading: 126.146654 deg.

2021-08-13T01:03:18.973Z,1628816598.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:19.349Z,1628816599.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:19.349Z,1628816599.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:19.349Z,1628816599.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:19.350Z,1628816599.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:19.757Z,1628816599.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,06BFB,186,80,80,A2,FF
2021-08-13T01:03:19.757Z,1628816599.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:19.758Z,1628816599.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:19.759Z,1628816599.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:20.172Z,1628816600.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:20.570Z,1628816600.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,008E0,187,80,80,8C,FF
2021-08-13T01:03:20.571Z,1628816600.571 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:21.005Z,1628816601.005 [Micromodem](INFO): Nmea in: $SNTTA,0.073001,,,,010321.29*4F

2021-08-13T01:03:21.047Z,1628816601.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 183.272444 deg, deltaT: 4.282259 s, approachRate: -355.480621 m/s, LOS rate: -3.935537 deg/s, posRepo size: 4
2021-08-13T01:03:21.053Z,1628816601.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.820000 m,
      bearing: 183.272444 deg,
      approachRate: -355.480621 m/s,
      LOS rate: -3.935537 deg/s,
      cmd update: -11.806610 deg/s,
      cmd heading: 177.566104 deg,
      new cmd heading: 183.031840 deg.

2021-08-13T01:03:22.202Z,1628816602.202 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:03:23.407Z,1628816603.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:23.807Z,1628816603.807 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:23.808Z,1628816603.808 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:23.808Z,1628816603.808 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:23.809Z,1628816603.809 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:24.197Z,1628816604.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,008E0,187,80,80,8C,FF
2021-08-13T01:03:24.197Z,1628816604.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:24.197Z,1628816604.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:24.199Z,1628816604.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:24.614Z,1628816604.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:25.005Z,1628816605.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,0090A,189,80,80,A2,FF
2021-08-13T01:03:25.005Z,1628816605.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:25.446Z,1628816605.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010325.73*5F

2021-08-13T01:03:25.462Z,1628816605.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.340004 m, bearing: 133.268725 deg, deltaT: 4.485149 s, approachRate: 0.561855 m/s, LOS rate: -11.148731 deg/s, posRepo size: 4
2021-08-13T01:03:25.464Z,1628816605.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.340004 m,
      bearing: 133.268725 deg,
      approachRate: 0.561855 m/s,
      LOS rate: -11.148731 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.709751 deg,
      new cmd heading: 120.065857 deg.

2021-08-13T01:03:27.936Z,1628816607.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:28.237Z,1628816608.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:28.237Z,1628816608.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:28.237Z,1628816608.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:28.238Z,1628816608.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:28.651Z,1628816608.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,0090A,189,80,80,A2,FF
2021-08-13T01:03:28.651Z,1628816608.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:28.651Z,1628816608.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:28.655Z,1628816608.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:29.049Z,1628816609.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:29.453Z,1628816609.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,359,000,00935,189,80,80,64,FF
2021-08-13T01:03:29.453Z,1628816609.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:29.909Z,1628816609.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010330.18*56

2021-08-13T01:03:29.984Z,1628816609.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 123.376562 deg, deltaT: 4.393274 s, approachRate: 0.587260 m/s, LOS rate: -2.251661 deg/s, posRepo size: 4
2021-08-13T01:03:29.986Z,1628816609.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 123.376562 deg,
      approachRate: 0.587260 m/s,
      LOS rate: -2.251661 deg/s,
      cmd update: -6.754983 deg/s,
      cmd heading: 71.888798 deg,
      new cmd heading: 65.769374 deg.

2021-08-13T01:03:31.974Z,1628816611.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:32.277Z,1628816612.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:32.277Z,1628816612.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:32.277Z,1628816612.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:32.278Z,1628816612.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:32.697Z,1628816612.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
359,000,00935,189,80,80,64,FF
2021-08-13T01:03:32.697Z,1628816612.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:32.698Z,1628816612.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:32.699Z,1628816612.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:33.088Z,1628816613.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:33.493Z,1628816613.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,0094E,185,80,80,B9,FF
2021-08-13T01:03:33.494Z,1628816613.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:33.949Z,1628816613.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010334.22*5B

2021-08-13T01:03:34.019Z,1628816614.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.419998 m, bearing: 133.980786 deg, deltaT: 4.064656 s, approachRate: 0.369035 m/s, LOS rate: 2.608886 deg/s, posRepo size: 4
2021-08-13T01:03:34.023Z,1628816614.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.419998 m,
      bearing: 133.980786 deg,
      approachRate: 0.369035 m/s,
      LOS rate: 2.608886 deg/s,
      cmd update: 7.826657 deg/s,
      cmd heading: 44.462021 deg,
      new cmd heading: 41.160482 deg.

2021-08-13T01:03:36.359Z,1628816616.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:36.733Z,1628816616.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:36.733Z,1628816616.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:36.733Z,1628816616.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:36.734Z,1628816616.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:37.125Z,1628816617.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,0094E,185,80,80,B9,FF
2021-08-13T01:03:37.125Z,1628816617.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:37.125Z,1628816617.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:37.127Z,1628816617.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:37.532Z,1628816617.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:38.366Z,1628816618.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010338.65*54

2021-08-13T01:03:39.183Z,1628816619.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:40.765Z,1628816620.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,B9,FF
2021-08-13T01:03:40.766Z,1628816620.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,B9,FF
2021-08-13T01:03:40.766Z,1628816620.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:03:42.018Z,1628816622.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:42.385Z,1628816622.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:42.385Z,1628816622.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:42.385Z,1628816622.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:42.386Z,1628816622.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:42.789Z,1628816622.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,B9,FF
2021-08-13T01:03:42.789Z,1628816622.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:42.789Z,1628816622.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:42.791Z,1628816622.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:43.205Z,1628816623.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:43.597Z,1628816623.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,0096B,186,80,80,62,FF
2021-08-13T01:03:43.597Z,1628816623.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:44.038Z,1628816624.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010344.32*5D

2021-08-13T01:03:44.106Z,1628816624.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.160004 m, bearing: 101.927330 deg, deltaT: 10.118622 s, approachRate: 0.171961 m/s, LOS rate: -3.167769 deg/s, posRepo size: 4
2021-08-13T01:03:44.116Z,1628816624.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 101.927330 deg,
      approachRate: 0.171961 m/s,
      LOS rate: -3.167769 deg/s,
      cmd update: -9.503307 deg/s,
      cmd heading: 123.600743 deg,
      new cmd heading: 127.222200 deg.

2021-08-13T01:03:46.466Z,1628816626.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:46.821Z,1628816626.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:46.821Z,1628816626.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:46.821Z,1628816626.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:46.822Z,1628816626.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:47.237Z,1628816627.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,0096B,186,80,80,62,FF
2021-08-13T01:03:47.238Z,1628816627.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:47.238Z,1628816627.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:47.239Z,1628816627.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:47.633Z,1628816627.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:48.054Z,1628816628.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00964,189,80,80,A5,FF
2021-08-13T01:03:48.054Z,1628816628.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:48.492Z,1628816628.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010348.77*50

2021-08-13T01:03:48.524Z,1628816628.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 52.281359 deg, deltaT: 4.496483 s, approachRate: -0.093406 m/s, LOS rate: -11.041067 deg/s, posRepo size: 4
2021-08-13T01:03:48.526Z,1628816628.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.740005 m,
      bearing: 52.281359 deg,
      approachRate: -0.093406 m/s,
      LOS rate: -11.041067 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 80.842943 deg,
      new cmd heading: 77.205952 deg.

2021-08-13T01:03:50.922Z,1628816630.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:51.278Z,1628816631.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:51.278Z,1628816631.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:51.279Z,1628816631.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:51.280Z,1628816631.280 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:51.676Z,1628816631.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00964,189,80,80,A5,FF
2021-08-13T01:03:51.677Z,1628816631.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:51.677Z,1628816631.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:51.697Z,1628816631.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:52.099Z,1628816632.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:52.489Z,1628816632.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0096D,187,80,80,8F,FF
2021-08-13T01:03:52.490Z,1628816632.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:52.902Z,1628816632.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010353.22*5A

2021-08-13T01:03:52.947Z,1628816632.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 119.485349 deg, deltaT: 4.392390 s, approachRate: 0.122938 m/s, LOS rate: 15.300097 deg/s, posRepo size: 4
2021-08-13T01:03:52.948Z,1628816632.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.300097 deg/s. Setting heading cmd to target bearing of 119.485349deg and heading rate command to 0 deg/s.
2021-08-13T01:03:53.741Z,1628816633.741 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:03:55.353Z,1628816635.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:03:55.737Z,1628816635.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:03:55.737Z,1628816635.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:03:55.737Z,1628816635.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:03:55.738Z,1628816635.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:03:56.126Z,1628816636.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,0096D,187,80,80,8F,FF
2021-08-13T01:03:56.126Z,1628816636.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:03:56.127Z,1628816636.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:03:56.129Z,1628816636.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:03:56.561Z,1628816636.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:03:56.974Z,1628816636.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0096E,188,80,80,A3,FF
2021-08-13T01:03:56.975Z,1628816636.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:03:57.386Z,1628816637.386 [Micromodem](INFO): Nmea in: $SNTTA,0.091162,,,,010357.65*4E

2021-08-13T01:03:57.401Z,1628816637.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.340004 m, bearing: 48.561170 deg, deltaT: 4.504878 s, approachRate: 0.013320 m/s, LOS rate: -15.743863 deg/s, posRepo size: 4
2021-08-13T01:03:57.402Z,1628816637.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.743863 deg/s. Setting heading cmd to target bearing of 48.561170deg and heading rate command to 0 deg/s.
2021-08-13T01:03:59.813Z,1628816639.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:00.197Z,1628816640.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:00.197Z,1628816640.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:00.198Z,1628816640.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:00.199Z,1628816640.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:00.597Z,1628816640.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0096E,188,80,80,A3,FF
2021-08-13T01:04:00.597Z,1628816640.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:00.597Z,1628816640.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:00.599Z,1628816640.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:01.015Z,1628816641.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:01.405Z,1628816641.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0096C,189,80,80,76,FF
2021-08-13T01:04:01.406Z,1628816641.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:01.866Z,1628816641.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010402.12*5A

2021-08-13T01:04:01.969Z,1628816641.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 32.449805 deg, deltaT: 4.411403 s, approachRate: -0.027203 m/s, LOS rate: -3.652209 deg/s, posRepo size: 4
2021-08-13T01:04:01.971Z,1628816641.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 32.449805 deg,
      approachRate: -0.027203 m/s,
      LOS rate: -3.652209 deg/s,
      cmd update: -10.956627 deg/s,
      cmd heading: 48.561170 deg,
      new cmd heading: 48.561170 deg.

2021-08-13T01:04:02.290Z,1628816642.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:04:03.989Z,1628816643.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:04.273Z,1628816644.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:04.273Z,1628816644.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:04.274Z,1628816644.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:04.274Z,1628816644.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:04.689Z,1628816644.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0096C,189,80,80,76,FF
2021-08-13T01:04:04.690Z,1628816644.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:04.690Z,1628816644.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:04.694Z,1628816644.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:05.098Z,1628816645.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:05.485Z,1628816645.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0095B,189,80,80,98,FF
2021-08-13T01:04:05.486Z,1628816645.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:05.957Z,1628816645.957 [Micromodem](INFO): Nmea in: $SNTTA,0.285995,,,,010406.22*49

2021-08-13T01:04:06.048Z,1628816646.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.199997 m, bearing: 18.296704 deg, deltaT: 4.079253 s, approachRate: -0.250047 m/s, LOS rate: -3.469533 deg/s, posRepo size: 4
2021-08-13T01:04:06.050Z,1628816646.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.199997 m,
      bearing: 18.296704 deg,
      approachRate: -0.250047 m/s,
      LOS rate: -3.469533 deg/s,
      cmd update: -10.408598 deg/s,
      cmd heading: 3.777908 deg,
      new cmd heading: 358.237054 deg.

2021-08-13T01:04:08.367Z,1628816648.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:08.745Z,1628816648.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:08.745Z,1628816648.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:08.745Z,1628816648.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:08.746Z,1628816648.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:09.126Z,1628816649.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0095B,189,80,80,98,FF
2021-08-13T01:04:09.126Z,1628816649.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:09.127Z,1628816649.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:09.130Z,1628816649.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:09.547Z,1628816649.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:09.967Z,1628816649.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,382,000,0093D,18A,80,80,AF,FF
2021-08-13T01:04:09.967Z,1628816649.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:10.365Z,1628816650.365 [Micromodem](INFO): Nmea in: $SNTTA,0.075345,,,,010410.66*44

2021-08-13T01:04:10.397Z,1628816650.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 24.762304 deg, deltaT: 4.537989 s, approachRate: -0.396650 m/s, LOS rate: 1.424772 deg/s, posRepo size: 4
2021-08-13T01:04:10.399Z,1628816650.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 24.762304 deg,
      approachRate: -0.396650 m/s,
      LOS rate: 1.424772 deg/s,
      cmd update: 4.274317 deg/s,
      cmd heading: 316.585940 deg,
      new cmd heading: 313.202657 deg.

2021-08-13T01:04:12.021Z,1628816652.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:04:12.809Z,1628816652.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:13.157Z,1628816653.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:13.157Z,1628816653.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:13.157Z,1628816653.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:13.158Z,1628816653.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:13.570Z,1628816653.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
382,000,0093D,18A,80,80,AF,FF
2021-08-13T01:04:13.570Z,1628816653.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:13.571Z,1628816653.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:13.572Z,1628816653.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:13.985Z,1628816653.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:14.373Z,1628816654.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,0091B,188,80,80,B2,FF
2021-08-13T01:04:14.374Z,1628816654.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:14.813Z,1628816654.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010415.10*5E

2021-08-13T01:04:14.895Z,1628816654.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 18.344741 deg, deltaT: 4.315298 s, approachRate: -0.472737 m/s, LOS rate: -1.487166 deg/s, posRepo size: 4
2021-08-13T01:04:14.902Z,1628816654.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 18.344741 deg,
      approachRate: -0.472737 m/s,
      LOS rate: -1.487166 deg/s,
      cmd update: -4.461497 deg/s,
      cmd heading: 335.047979 deg,
      new cmd heading: 337.202901 deg.

2021-08-13T01:04:17.227Z,1628816657.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:17.609Z,1628816657.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:17.609Z,1628816657.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:17.609Z,1628816657.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:17.610Z,1628816657.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:18.009Z,1628816658.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,0091B,188,80,80,B2,FF
2021-08-13T01:04:18.009Z,1628816658.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:18.009Z,1628816658.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:18.011Z,1628816658.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:18.429Z,1628816658.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:18.817Z,1628816658.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,008E9,186,80,80,AC,FF
2021-08-13T01:04:18.818Z,1628816658.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:19.265Z,1628816659.265 [Micromodem](INFO): Nmea in: $SNTTA,0.075711,,,,010419.54*49

2021-08-13T01:04:19.282Z,1628816659.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.360008 m, bearing: 21.491825 deg, deltaT: 4.494552 s, approachRate: -0.667473 m/s, LOS rate: 0.700200 deg/s, posRepo size: 4
2021-08-13T01:04:19.284Z,1628816659.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 21.491825 deg,
      approachRate: -0.667473 m/s,
      LOS rate: 0.700200 deg/s,
      cmd update: 2.100600 deg/s,
      cmd heading: 315.014570 deg,
      new cmd heading: 313.231908 deg.

2021-08-13T01:04:21.725Z,1628816661.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:22.053Z,1628816662.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:22.053Z,1628816662.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:22.053Z,1628816662.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:22.054Z,1628816662.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:22.453Z,1628816662.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,008E9,186,80,80,AC,FF
2021-08-13T01:04:22.453Z,1628816662.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:22.453Z,1628816662.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:22.455Z,1628816662.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:22.877Z,1628816662.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:23.261Z,1628816663.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,008C0,187,80,80,A5,FF
2021-08-13T01:04:23.262Z,1628816663.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:23.717Z,1628816663.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010423.98*5B

2021-08-13T01:04:23.747Z,1628816663.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.899994 m, bearing: 20.837621 deg, deltaT: 4.437218 s, approachRate: -0.554405 m/s, LOS rate: -0.147436 deg/s, posRepo size: 4
2021-08-13T01:04:23.776Z,1628816663.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.899994 m,
      bearing: 20.837621 deg,
      approachRate: -0.554405 m/s,
      LOS rate: -0.147436 deg/s,
      cmd update: -0.442307 deg/s,
      cmd heading: 324.344434 deg,
      new cmd heading: 325.235885 deg.

2021-08-13T01:04:26.168Z,1628816666.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:26.501Z,1628816666.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:26.501Z,1628816666.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:26.501Z,1628816666.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:26.502Z,1628816666.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:26.914Z,1628816666.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,008C0,187,80,80,A5,FF
2021-08-13T01:04:26.915Z,1628816666.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:26.940Z,1628816666.940 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:26.942Z,1628816666.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:27.319Z,1628816667.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:27.737Z,1628816667.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,00892,189,80,80,9C,FF
2021-08-13T01:04:27.738Z,1628816667.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:28.125Z,1628816668.125 [Micromodem](INFO): Nmea in: $SNTTA,0.410309,0.410434,,,010428.47*5B

2021-08-13T01:04:28.172Z,1628816668.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 21.277745 deg, deltaT: 4.441893 s, approachRate: -0.621354 m/s, LOS rate: 0.099085 deg/s, posRepo size: 4
2021-08-13T01:04:28.174Z,1628816668.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 21.277745 deg,
      approachRate: -0.621354 m/s,
      LOS rate: 0.099085 deg/s,
      cmd update: 0.297254 deg/s,
      cmd heading: 322.379859 deg,
      new cmd heading: 322.199802 deg.

2021-08-13T01:04:30.555Z,1628816670.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:30.937Z,1628816670.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:30.937Z,1628816670.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:30.937Z,1628816670.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:30.938Z,1628816670.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:31.349Z,1628816671.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,00892,189,80,80,9C,FF
2021-08-13T01:04:31.349Z,1628816671.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:31.350Z,1628816671.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:31.351Z,1628816671.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:31.752Z,1628816671.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:32.146Z,1628816672.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C26,000,00871,189,80,80,B3,FF
2021-08-13T01:04:32.146Z,1628816672.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:32.605Z,1628816672.605 [Micromodem](INFO): Nmea in: $SNTTA,0.088206,,,,010432.88*40

2021-08-13T01:04:32.653Z,1628816672.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.159996 m, bearing: 20.303801 deg, deltaT: 4.454929 s, approachRate: -0.444454 m/s, LOS rate: -0.218622 deg/s, posRepo size: 4
2021-08-13T01:04:32.675Z,1628816672.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.159996 m,
      bearing: 20.303801 deg,
      approachRate: -0.444454 m/s,
      LOS rate: -0.218622 deg/s,
      cmd update: -0.655865 deg/s,
      cmd heading: 323.704158 deg,
      new cmd heading: 323.831600 deg.

2021-08-13T01:04:35.021Z,1628816675.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:35.385Z,1628816675.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:35.385Z,1628816675.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:35.385Z,1628816675.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:35.386Z,1628816675.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:35.785Z,1628816675.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C26,000,00871,189,80,80,B3,FF
2021-08-13T01:04:35.785Z,1628816675.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:35.785Z,1628816675.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:35.787Z,1628816675.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:36.205Z,1628816676.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:36.597Z,1628816676.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C37,000,0084D,189,80,80,C6,FF
2021-08-13T01:04:36.597Z,1628816676.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:37.045Z,1628816677.045 [Micromodem](INFO): Nmea in: $SNTTA,0.166669,,,,010437.31*4B

2021-08-13T01:04:37.071Z,1628816677.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 16.805351 deg, deltaT: 4.424283 s, approachRate: -0.488214 m/s, LOS rate: -0.790738 deg/s, posRepo size: 4
2021-08-13T01:04:37.073Z,1628816677.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 16.805351 deg,
      approachRate: -0.488214 m/s,
      LOS rate: -0.790738 deg/s,
      cmd update: -2.372215 deg/s,
      cmd heading: 320.806140 deg,
      new cmd heading: 320.522434 deg.

2021-08-13T01:04:39.454Z,1628816679.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:39.825Z,1628816679.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:39.825Z,1628816679.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:39.825Z,1628816679.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:39.826Z,1628816679.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:40.237Z,1628816680.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C37,000,0084D,189,80,80,C6,FF
2021-08-13T01:04:40.238Z,1628816680.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:40.238Z,1628816680.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:40.239Z,1628816680.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:40.645Z,1628816680.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:41.037Z,1628816681.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B83,000,00833,189,80,80,BC,FF
2021-08-13T01:04:41.038Z,1628816681.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:41.473Z,1628816681.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010441.76*5F

2021-08-13T01:04:41.495Z,1628816681.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 21.799047 deg, deltaT: 4.420897 s, approachRate: -0.352871 m/s, LOS rate: 1.129566 deg/s, posRepo size: 4
2021-08-13T01:04:41.518Z,1628816681.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.439995 m,
      bearing: 21.799047 deg,
      approachRate: -0.352871 m/s,
      LOS rate: 1.129566 deg/s,
      cmd update: 3.388699 deg/s,
      cmd heading: 310.305902 deg,
      new cmd heading: 309.283954 deg.

2021-08-13T01:04:43.965Z,1628816683.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:44.277Z,1628816684.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:44.277Z,1628816684.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:44.277Z,1628816684.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:44.278Z,1628816684.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:44.692Z,1628816684.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B83,000,00833,189,80,80,BC,FF
2021-08-13T01:04:44.693Z,1628816684.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:44.694Z,1628816684.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:44.695Z,1628816684.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:45.081Z,1628816685.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:45.481Z,1628816685.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B14,000,0081A,189,80,80,B6,FF
2021-08-13T01:04:45.481Z,1628816685.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:45.929Z,1628816685.929 [Micromodem](INFO): Nmea in: $SNTTA,0.287483,,,,010446.23*44

2021-08-13T01:04:46.013Z,1628816686.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.940002 m, bearing: 21.112863 deg, deltaT: 4.433369 s, approachRate: -0.338341 m/s, LOS rate: -0.154777 deg/s, posRepo size: 4
2021-08-13T01:04:46.015Z,1628816686.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.940002 m,
      bearing: 21.112863 deg,
      approachRate: -0.338341 m/s,
      LOS rate: -0.154777 deg/s,
      cmd update: -0.464332 deg/s,
      cmd heading: 325.330150 deg,
      new cmd heading: 327.075885 deg.

2021-08-13T01:04:48.032Z,1628816688.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:48.309Z,1628816688.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:48.309Z,1628816688.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:48.309Z,1628816688.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:48.310Z,1628816688.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:48.737Z,1628816688.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B14,000,0081A,189,80,80,B6,FF
2021-08-13T01:04:48.737Z,1628816688.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:48.737Z,1628816688.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:48.739Z,1628816688.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:49.126Z,1628816689.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:49.521Z,1628816689.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C13,000,00800,189,80,80,C5,FF
2021-08-13T01:04:49.521Z,1628816689.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:49.985Z,1628816689.985 [Micromodem](INFO): Nmea in: $SNTTA,0.056636,,,,010450.27*45

2021-08-13T01:04:50.059Z,1628816690.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.379997 m, bearing: 16.633712 deg, deltaT: 4.067863 s, approachRate: -0.383495 m/s, LOS rate: -1.101107 deg/s, posRepo size: 4
2021-08-13T01:04:50.061Z,1628816690.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.379997 m,
      bearing: 16.633712 deg,
      approachRate: -0.383495 m/s,
      LOS rate: -1.101107 deg/s,
      cmd update: -3.303320 deg/s,
      cmd heading: 323.441314 deg,
      new cmd heading: 323.212444 deg.

2021-08-13T01:04:52.383Z,1628816692.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:52.753Z,1628816692.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:52.753Z,1628816692.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:52.753Z,1628816692.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:52.754Z,1628816692.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:53.157Z,1628816693.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C13,000,00800,189,80,80,C5,FF
2021-08-13T01:04:53.157Z,1628816693.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:53.158Z,1628816693.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:53.159Z,1628816693.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:53.565Z,1628816693.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:53.981Z,1628816693.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBD,000,007E3,189,80,80,7E,FF
2021-08-13T01:04:53.981Z,1628816693.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:54.401Z,1628816694.401 [Micromodem](INFO): Nmea in: $SNTTA,0.071786,,,,010454.68*45

2021-08-13T01:04:54.449Z,1628816694.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.640007 m, bearing: 22.188783 deg, deltaT: 4.507051 s, approachRate: -0.386060 m/s, LOS rate: 1.232529 deg/s, posRepo size: 4
2021-08-13T01:04:54.451Z,1628816694.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.640007 m,
      bearing: 22.188783 deg,
      approachRate: -0.386060 m/s,
      LOS rate: 1.232529 deg/s,
      cmd update: 3.697587 deg/s,
      cmd heading: 308.582106 deg,
      new cmd heading: 307.316062 deg.

2021-08-13T01:04:56.830Z,1628816696.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:04:57.208Z,1628816697.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:04:57.209Z,1628816697.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:04:57.209Z,1628816697.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:04:57.210Z,1628816697.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:04:57.608Z,1628816697.608 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBD,000,007E3,189,80,80,7E,FF
2021-08-13T01:04:57.608Z,1628816697.608 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:04:57.609Z,1628816697.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:04:57.610Z,1628816697.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:04:58.020Z,1628816698.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:04:58.409Z,1628816698.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,007CD,18A,80,80,B0,FF
2021-08-13T01:04:58.410Z,1628816698.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:04:58.850Z,1628816698.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010459.14*52

2021-08-13T01:04:58.896Z,1628816698.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 21.653213 deg, deltaT: 4.353333 s, approachRate: -0.303218 m/s, LOS rate: -0.123025 deg/s, posRepo size: 4
2021-08-13T01:04:58.898Z,1628816698.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.320000 m,
      bearing: 21.653213 deg,
      approachRate: -0.303218 m/s,
      LOS rate: -0.123025 deg/s,
      cmd update: -0.369076 deg/s,
      cmd heading: 324.711426 deg,
      new cmd heading: 326.447203 deg.

2021-08-13T01:05:01.300Z,1628816701.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:01.656Z,1628816701.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:01.656Z,1628816701.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:01.657Z,1628816701.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:01.658Z,1628816701.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:02.073Z,1628816702.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,007CD,18A,80,80,B0,FF
2021-08-13T01:05:02.073Z,1628816702.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:02.073Z,1628816702.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:02.075Z,1628816702.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:02.457Z,1628816702.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:02.858Z,1628816702.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B39,000,007B2,189,80,80,99,FF
2021-08-13T01:05:02.859Z,1628816702.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:03.277Z,1628816703.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010503.60*5F

2021-08-13T01:05:03.312Z,1628816703.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.700005 m, bearing: 28.232831 deg, deltaT: 4.501810 s, approachRate: -0.359854 m/s, LOS rate: 1.461550 deg/s, posRepo size: 4
2021-08-13T01:05:03.314Z,1628816703.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.700005 m,
      bearing: 28.232831 deg,
      approachRate: -0.359854 m/s,
      LOS rate: 1.461550 deg/s,
      cmd update: 4.384649 deg/s,
      cmd heading: 323.050003 deg,
      new cmd heading: 322.908454 deg.

2021-08-13T01:05:05.747Z,1628816705.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:06.086Z,1628816706.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:06.086Z,1628816706.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:06.086Z,1628816706.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:06.087Z,1628816706.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:06.489Z,1628816706.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B39,000,007B2,189,80,80,99,FF
2021-08-13T01:05:06.489Z,1628816706.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:06.490Z,1628816706.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:06.491Z,1628816706.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:06.907Z,1628816706.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:07.301Z,1628816707.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B1C,000,0079C,18A,80,80,B5,FF
2021-08-13T01:05:07.301Z,1628816707.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:07.755Z,1628816707.755 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010508.02*50

2021-08-13T01:05:07.810Z,1628816707.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 33.808702 deg, deltaT: 4.389949 s, approachRate: -0.300689 m/s, LOS rate: 1.270145 deg/s, posRepo size: 4
2021-08-13T01:05:07.816Z,1628816707.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.379997 m,
      bearing: 33.808702 deg,
      approachRate: -0.300689 m/s,
      LOS rate: 1.270145 deg/s,
      cmd update: 3.810434 deg/s,
      cmd heading: 342.299462 deg,
      new cmd heading: 344.456310 deg.

2021-08-13T01:05:10.227Z,1628816710.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:10.522Z,1628816710.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:10.522Z,1628816710.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:10.523Z,1628816710.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:10.523Z,1628816710.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:10.945Z,1628816710.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B1C,000,0079C,18A,80,80,B5,FF
2021-08-13T01:05:10.945Z,1628816710.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:10.945Z,1628816710.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:10.947Z,1628816710.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:11.363Z,1628816711.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:11.749Z,1628816711.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,0077F,189,80,80,A7,FF
2021-08-13T01:05:11.749Z,1628816711.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:12.194Z,1628816712.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010512.47*5A

2021-08-13T01:05:12.229Z,1628816712.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 21.247105 deg, deltaT: 4.597026 s, approachRate: -0.378503 m/s, LOS rate: -2.732549 deg/s, posRepo size: 4
2021-08-13T01:05:12.231Z,1628816712.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.640007 m,
      bearing: 21.247105 deg,
      approachRate: -0.378503 m/s,
      LOS rate: -2.732549 deg/s,
      cmd update: -8.197646 deg/s,
      cmd heading: 359.748047 deg,
      new cmd heading: 1.009061 deg.

2021-08-13T01:05:14.595Z,1628816714.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:14.989Z,1628816714.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:14.989Z,1628816714.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:14.989Z,1628816714.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:14.990Z,1628816714.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:15.390Z,1628816715.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,0077F,189,80,80,A7,FF
2021-08-13T01:05:15.390Z,1628816715.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:15.390Z,1628816715.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:15.391Z,1628816715.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:15.814Z,1628816715.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:16.217Z,1628816716.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00758,188,80,80,84,FF
2021-08-13T01:05:16.217Z,1628816716.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:16.642Z,1628816716.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010516.92*56

2021-08-13T01:05:16.709Z,1628816716.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 38.014726 deg, deltaT: 4.374264 s, approachRate: -0.534948 m/s, LOS rate: 3.833244 deg/s, posRepo size: 4
2021-08-13T01:05:16.713Z,1628816716.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 38.014726 deg,
      approachRate: -0.534948 m/s,
      LOS rate: 3.833244 deg/s,
      cmd update: 11.499732 deg/s,
      cmd heading: 323.775645 deg,
      new cmd heading: 320.495529 deg.

2021-08-13T01:05:19.069Z,1628816719.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:19.437Z,1628816719.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:19.437Z,1628816719.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:19.437Z,1628816719.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:19.438Z,1628816719.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:19.842Z,1628816719.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00758,188,80,80,84,FF
2021-08-13T01:05:19.842Z,1628816719.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:19.843Z,1628816719.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:19.845Z,1628816719.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:20.237Z,1628816720.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:20.650Z,1628816720.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00733,186,80,80,84,FF
2021-08-13T01:05:20.650Z,1628816720.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:21.081Z,1628816721.081 [Micromodem](INFO): Nmea in: $SNTTA,,0.048228,,,010521.37*47

2021-08-13T01:05:21.107Z,1628816721.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 342.102565 deg, deltaT: 4.420894 s, approachRate: -0.502161 m/s, LOS rate: -12.647253 deg/s, posRepo size: 4
2021-08-13T01:05:21.108Z,1628816721.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.647253 deg/s. Setting heading cmd to target bearing of 342.102565deg and heading rate command to 0 deg/s.
2021-08-13T01:05:23.499Z,1628816723.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:23.874Z,1628816723.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:23.874Z,1628816723.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:23.875Z,1628816723.875 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:23.878Z,1628816723.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:24.273Z,1628816724.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00733,186,80,80,84,FF
2021-08-13T01:05:24.273Z,1628816724.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:24.273Z,1628816724.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:24.275Z,1628816724.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:24.707Z,1628816724.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:25.085Z,1628816725.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C17,000,0070F,189,80,80,99,FF
2021-08-13T01:05:25.086Z,1628816725.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:25.513Z,1628816725.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010525.80*55

2021-08-13T01:05:25.553Z,1628816725.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 36.513204 deg, deltaT: 4.433100 s, approachRate: -0.487245 m/s, LOS rate: 12.273724 deg/s, posRepo size: 4
2021-08-13T01:05:25.553Z,1628816725.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273724 deg/s. Setting heading cmd to target bearing of 36.513204deg and heading rate command to 0 deg/s.
2021-08-13T01:05:28.010Z,1628816728.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:28.313Z,1628816728.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:28.313Z,1628816728.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:28.313Z,1628816728.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:28.314Z,1628816728.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:28.741Z,1628816728.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C17,000,0070F,189,80,80,99,FF
2021-08-13T01:05:28.741Z,1628816728.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:28.741Z,1628816728.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:28.743Z,1628816728.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:29.125Z,1628816729.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:29.525Z,1628816729.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C42,000,006EB,189,80,80,A1,FF
2021-08-13T01:05:29.525Z,1628816729.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:29.985Z,1628816729.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010530.27*5C

2021-08-13T01:05:30.031Z,1628816730.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.760002 m, bearing: 38.510690 deg, deltaT: 4.398862 s, approachRate: -0.491035 m/s, LOS rate: 0.454091 deg/s, posRepo size: 4
2021-08-13T01:05:30.057Z,1628816730.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.760002 m,
      bearing: 38.510690 deg,
      approachRate: -0.491035 m/s,
      LOS rate: 0.454091 deg/s,
      cmd update: 1.362274 deg/s,
      cmd heading: 36.513204 deg,
      new cmd heading: 36.513204 deg.

2021-08-13T01:05:32.405Z,1628816732.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:32.753Z,1628816732.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:32.753Z,1628816732.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:32.753Z,1628816732.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:32.754Z,1628816732.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:33.174Z,1628816733.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C42,000,006EB,189,80,80,A1,FF
2021-08-13T01:05:33.174Z,1628816733.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:33.174Z,1628816733.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:33.176Z,1628816733.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:33.572Z,1628816733.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:33.973Z,1628816733.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,006C9,18A,80,80,86,FF
2021-08-13T01:05:33.973Z,1628816733.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:34.401Z,1628816734.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010534.70*5A

2021-08-13T01:05:34.423Z,1628816734.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 39.562102 deg, deltaT: 4.499089 s, approachRate: -0.453424 m/s, LOS rate: 0.233694 deg/s, posRepo size: 4
2021-08-13T01:05:34.426Z,1628816734.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.720009 m,
      bearing: 39.562102 deg,
      approachRate: -0.453424 m/s,
      LOS rate: 0.233694 deg/s,
      cmd update: 0.701083 deg/s,
      cmd heading: 42.641722 deg,
      new cmd heading: 43.162473 deg.

2021-08-13T01:05:36.838Z,1628816736.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:37.205Z,1628816737.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:37.205Z,1628816737.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:37.205Z,1628816737.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:37.206Z,1628816737.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:37.609Z,1628816737.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,006C9,18A,80,80,86,FF
2021-08-13T01:05:37.609Z,1628816737.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:37.609Z,1628816737.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:37.611Z,1628816737.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:38.012Z,1628816738.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:38.417Z,1628816738.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,006A2,187,80,80,7C,FF
2021-08-13T01:05:38.417Z,1628816738.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:38.870Z,1628816738.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010539.14*55

2021-08-13T01:05:38.901Z,1628816738.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 44.364063 deg, deltaT: 4.392862 s, approachRate: -0.532683 m/s, LOS rate: 1.093128 deg/s, posRepo size: 4
2021-08-13T01:05:38.903Z,1628816738.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.380005 m,
      bearing: 44.364063 deg,
      approachRate: -0.532683 m/s,
      LOS rate: 1.093128 deg/s,
      cmd update: 3.279384 deg/s,
      cmd heading: 45.721740 deg,
      new cmd heading: 46.048942 deg.

2021-08-13T01:05:41.255Z,1628816741.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:41.641Z,1628816741.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:41.641Z,1628816741.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:41.642Z,1628816741.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:41.643Z,1628816741.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:42.049Z,1628816742.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,006A2,187,80,80,7C,FF
2021-08-13T01:05:42.050Z,1628816742.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:42.050Z,1628816742.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:42.051Z,1628816742.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:42.471Z,1628816742.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:42.858Z,1628816742.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00678,184,80,80,99,FF
2021-08-13T01:05:42.859Z,1628816742.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:43.302Z,1628816743.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010543.58*50

2021-08-13T01:05:43.323Z,1628816743.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 46.242133 deg, deltaT: 4.499856 s, approachRate: -0.560019 m/s, LOS rate: 0.417362 deg/s, posRepo size: 4
2021-08-13T01:05:43.326Z,1628816743.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.860001 m,
      bearing: 46.242133 deg,
      approachRate: -0.560019 m/s,
      LOS rate: 0.417362 deg/s,
      cmd update: 1.252087 deg/s,
      cmd heading: 60.452262 deg,
      new cmd heading: 61.754869 deg.

2021-08-13T01:05:45.740Z,1628816745.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:46.089Z,1628816746.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:46.089Z,1628816746.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:46.089Z,1628816746.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:46.090Z,1628816746.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:46.497Z,1628816746.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00678,184,80,80,99,FF
2021-08-13T01:05:46.498Z,1628816746.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:46.498Z,1628816746.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:46.499Z,1628816746.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:46.913Z,1628816746.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:47.307Z,1628816747.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00645,189,80,80,95,FF
2021-08-13T01:05:47.308Z,1628816747.308 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:47.753Z,1628816747.753 [Micromodem](INFO): Nmea in: $SNTTA,0.050217,,,,010548.03*4A

2021-08-13T01:05:47.800Z,1628816747.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 38.800187 deg, deltaT: 4.389851 s, approachRate: -0.697063 m/s, LOS rate: -1.695261 deg/s, posRepo size: 4
2021-08-13T01:05:47.802Z,1628816747.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 38.800187 deg,
      approachRate: -0.697063 m/s,
      LOS rate: -1.695261 deg/s,
      cmd update: -5.085784 deg/s,
      cmd heading: 65.958701 deg,
      new cmd heading: 66.554176 deg.

2021-08-13T01:05:50.182Z,1628816750.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:50.538Z,1628816750.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:50.539Z,1628816750.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:50.539Z,1628816750.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:50.540Z,1628816750.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:50.945Z,1628816750.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00645,189,80,80,95,FF
2021-08-13T01:05:50.945Z,1628816750.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:50.945Z,1628816750.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:50.947Z,1628816750.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:51.357Z,1628816751.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:51.757Z,1628816751.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E2,000,0061E,189,80,80,92,FF
2021-08-13T01:05:51.757Z,1628816751.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:52.193Z,1628816752.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010552.47*5E

2021-08-13T01:05:52.239Z,1628816752.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 33.150815 deg, deltaT: 4.492910 s, approachRate: -0.520821 m/s, LOS rate: -1.257397 deg/s, posRepo size: 4
2021-08-13T01:05:52.241Z,1628816752.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.459995 m,
      bearing: 33.150815 deg,
      approachRate: -0.520821 m/s,
      LOS rate: -1.257397 deg/s,
      cmd update: -3.772191 deg/s,
      cmd heading: 43.150966 deg,
      new cmd heading: 40.960707 deg.

2021-08-13T01:05:54.602Z,1628816754.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:54.997Z,1628816754.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:54.997Z,1628816754.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:54.997Z,1628816754.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:54.998Z,1628816754.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:55.389Z,1628816755.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E2,000,0061E,189,80,80,92,FF
2021-08-13T01:05:55.389Z,1628816755.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:55.389Z,1628816755.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:55.391Z,1628816755.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:05:55.815Z,1628816755.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:05:56.201Z,1628816756.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,005EF,185,80,80,BA,FF
2021-08-13T01:05:56.201Z,1628816756.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:05:56.205Z,1628816756.205 [Micromodem](INFO): Nmea in: $SNTTA,0.047814,0.184440,,,010556.92*51

2021-08-13T01:05:56.659Z,1628816756.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 39.395899 deg, deltaT: 4.451459 s, approachRate: -0.633499 m/s, LOS rate: 1.402930 deg/s, posRepo size: 4
2021-08-13T01:05:56.667Z,1628816756.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.639999 m,
      bearing: 39.395899 deg,
      approachRate: -0.633499 m/s,
      LOS rate: 1.402930 deg/s,
      cmd update: 4.208789 deg/s,
      cmd heading: 26.327725 deg,
      new cmd heading: 24.864031 deg.

2021-08-13T01:05:59.093Z,1628816759.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:05:59.429Z,1628816759.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:05:59.429Z,1628816759.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:05:59.429Z,1628816759.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:05:59.430Z,1628816759.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:05:59.846Z,1628816759.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,005EF,185,80,80,BA,FF
2021-08-13T01:05:59.846Z,1628816759.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:05:59.846Z,1628816759.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:05:59.851Z,1628816759.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:00.249Z,1628816760.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:00.674Z,1628816760.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,005C4,187,80,80,9A,FF
2021-08-13T01:06:00.675Z,1628816760.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:01.078Z,1628816761.078 [Micromodem](INFO): Nmea in: $SNTTA,0.076596,,,,010601.38*46

2021-08-13T01:06:01.099Z,1628816761.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 41.389772 deg, deltaT: 4.479785 s, approachRate: -0.575922 m/s, LOS rate: 0.445082 deg/s, posRepo size: 4
2021-08-13T01:06:01.102Z,1628816761.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 41.389772 deg,
      approachRate: -0.575922 m/s,
      LOS rate: 0.445082 deg/s,
      cmd update: 1.335246 deg/s,
      cmd heading: 45.165172 deg,
      new cmd heading: 46.660378 deg.

2021-08-13T01:06:03.502Z,1628816763.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:03.908Z,1628816763.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:03.908Z,1628816763.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:03.909Z,1628816763.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:03.910Z,1628816763.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:04.277Z,1628816764.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,005C4,187,80,80,9A,FF
2021-08-13T01:06:04.277Z,1628816764.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:04.277Z,1628816764.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:04.279Z,1628816764.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:04.719Z,1628816764.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:05.093Z,1628816765.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00593,184,80,80,8D,FF
2021-08-13T01:06:05.093Z,1628816765.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:05.538Z,1628816765.538 [Micromodem](INFO): Nmea in: $SNTTA,0.068119,,,,010605.81*4C

2021-08-13T01:06:05.560Z,1628816765.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 38.589097 deg, deltaT: 4.407655 s, approachRate: -0.667019 m/s, LOS rate: -0.635411 deg/s, posRepo size: 4
2021-08-13T01:06:05.562Z,1628816765.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.120003 m,
      bearing: 38.589097 deg,
      approachRate: -0.667019 m/s,
      LOS rate: -0.635411 deg/s,
      cmd update: -1.906235 deg/s,
      cmd heading: 51.055525 deg,
      new cmd heading: 51.594897 deg.

2021-08-13T01:06:08.063Z,1628816768.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:08.324Z,1628816768.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:08.324Z,1628816768.324 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:08.324Z,1628816768.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:08.325Z,1628816768.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:08.738Z,1628816768.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00593,184,80,80,8D,FF
2021-08-13T01:06:08.738Z,1628816768.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:08.738Z,1628816768.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:08.789Z,1628816768.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:09.136Z,1628816769.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:09.530Z,1628816769.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,00564,186,80,80,92,FF
2021-08-13T01:06:09.531Z,1628816769.531 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:09.992Z,1628816769.992 [Micromodem](INFO): Nmea in: $SNTTA,0.065496,,,,010610.31*4C

2021-08-13T01:06:10.054Z,1628816770.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 34.307275 deg, deltaT: 4.449998 s, approachRate: -0.633709 m/s, LOS rate: -0.962208 deg/s, posRepo size: 4
2021-08-13T01:06:10.057Z,1628816770.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 34.307275 deg,
      approachRate: -0.633709 m/s,
      LOS rate: -0.962208 deg/s,
      cmd update: -2.886623 deg/s,
      cmd heading: 42.580051 deg,
      new cmd heading: 41.717480 deg.

2021-08-13T01:06:12.390Z,1628816772.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:12.765Z,1628816772.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:12.765Z,1628816772.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:12.765Z,1628816772.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:12.766Z,1628816772.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:13.169Z,1628816773.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,00564,186,80,80,92,FF
2021-08-13T01:06:13.169Z,1628816773.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:13.170Z,1628816773.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:13.171Z,1628816773.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:13.576Z,1628816773.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:13.993Z,1628816773.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00539,185,80,80,6F,FF
2021-08-13T01:06:13.993Z,1628816773.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:13.997Z,1628816773.997 [Micromodem](INFO): Nmea in: $SNTTA,0.295919,0.295925,,,010614.70*54

2021-08-13T01:06:14.406Z,1628816774.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 35.732643 deg, deltaT: 4.489179 s, approachRate: -0.574716 m/s, LOS rate: 0.317512 deg/s, posRepo size: 4
2021-08-13T01:06:14.407Z,1628816774.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.719997 m,
      bearing: 35.732643 deg,
      approachRate: -0.574716 m/s,
      LOS rate: 0.317512 deg/s,
      cmd update: 0.952536 deg/s,
      cmd heading: 29.621878 deg,
      new cmd heading: 28.713411 deg.

2021-08-13T01:06:16.829Z,1628816776.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:17.214Z,1628816777.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:17.214Z,1628816777.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:17.215Z,1628816777.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:17.216Z,1628816777.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:17.609Z,1628816777.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,00539,185,80,80,6F,FF
2021-08-13T01:06:17.609Z,1628816777.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:17.609Z,1628816777.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:17.611Z,1628816777.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:18.016Z,1628816778.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:18.425Z,1628816778.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00507,185,80,80,6C,FF
2021-08-13T01:06:18.426Z,1628816778.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:18.866Z,1628816778.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010619.14*54

2021-08-13T01:06:18.915Z,1628816778.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 38.035312 deg, deltaT: 4.347506 s, approachRate: -0.690051 m/s, LOS rate: 0.529653 deg/s, posRepo size: 4
2021-08-13T01:06:18.920Z,1628816778.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m.
2021-08-13T01:06:18.922Z,1628816778.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.719997 m,
      bearing: 38.035312 deg,
      approachRate: -0.690051 m/s,
      LOS rate: 0.529653 deg/s,
      cmd update: 1.588958 deg/s,
      cmd heading: 33.767020 deg,
      new cmd heading: 34.217271 deg.

2021-08-13T01:06:19.270Z,1628816779.270 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:06:19.331Z,1628816779.331 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:06:19.331Z,1628816779.331 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:19.332Z,1628816779.332 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:06:19.333Z,1628816779.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:06:19.334Z,1628816779.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:06:19.334Z,1628816779.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:06:19.713Z,1628816779.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:06:19.713Z,1628816779.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:19.713Z,1628816779.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:06:19.713Z,1628816779.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:21.263Z,1628816781.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:21.660Z,1628816781.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:21.661Z,1628816781.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:21.661Z,1628816781.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:21.663Z,1628816781.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:22.085Z,1628816782.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00507,185,80,80,6C,FF
2021-08-13T01:06:22.085Z,1628816782.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:22.085Z,1628816782.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:22.087Z,1628816782.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:22.466Z,1628816782.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:22.862Z,1628816782.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,004DB,183,80,80,76,FF
2021-08-13T01:06:22.863Z,1628816782.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:22.939Z,1628816782.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:23.283Z,1628816783.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010623.61*5F

2021-08-13T01:06:23.320Z,1628816783.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 36.154759 deg, deltaT: 4.493896 s, approachRate: -0.587463 m/s, LOS rate: -0.418468 deg/s, posRepo size: 4
2021-08-13T01:06:23.320Z,1628816783.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m.
2021-08-13T01:06:23.322Z,1628816783.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 36.154759 deg,
      approachRate: -0.587463 m/s,
      LOS rate: -0.418468 deg/s,
      cmd update: -1.255405 deg/s,
      cmd heading: 40.906161 deg,
      new cmd heading: 41.516623 deg.

2021-08-13T01:06:25.740Z,1628816785.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:26.101Z,1628816786.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:26.101Z,1628816786.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:26.101Z,1628816786.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:26.102Z,1628816786.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:26.497Z,1628816786.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,004DB,183,80,80,76,FF
2021-08-13T01:06:26.497Z,1628816786.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:26.498Z,1628816786.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:26.499Z,1628816786.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:26.912Z,1628816786.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:27.305Z,1628816787.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,004A2,186,80,80,A3,FF
2021-08-13T01:06:27.305Z,1628816787.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:27.355Z,1628816787.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:27.757Z,1628816787.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010628.02*51

2021-08-13T01:06:27.819Z,1628816787.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 30.828677 deg, deltaT: 4.415827 s, approachRate: -0.774487 m/s, LOS rate: -1.206135 deg/s, posRepo size: 4
2021-08-13T01:06:27.819Z,1628816787.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.66 m.
2021-08-13T01:06:27.822Z,1628816787.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.660000 m,
      bearing: 30.828677 deg,
      approachRate: -0.774487 m/s,
      LOS rate: -1.206135 deg/s,
      cmd update: -3.618405 deg/s,
      cmd heading: 35.368249 deg,
      new cmd heading: 34.779625 deg.

2021-08-13T01:06:30.196Z,1628816790.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:30.545Z,1628816790.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:30.545Z,1628816790.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:30.546Z,1628816790.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:30.547Z,1628816790.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:30.941Z,1628816790.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,004A2,186,80,80,A3,FF
2021-08-13T01:06:30.941Z,1628816790.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:30.941Z,1628816790.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:30.943Z,1628816790.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:31.349Z,1628816791.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:32.206Z,1628816792.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010632.47*5B

2021-08-13T01:06:33.001Z,1628816793.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:33.369Z,1628816793.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0593A,184,80,80,72,FF
2021-08-13T01:06:33.369Z,1628816793.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:33.418Z,1628816793.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:33.820Z,1628816793.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1333.020020 m, bearing: 34.172878 deg, deltaT: 6.062950 s, approachRate: 214.311508 m/s, LOS rate: 0.551580 deg/s, posRepo size: 4
2021-08-13T01:06:33.822Z,1628816793.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1333.020020 m,
      bearing: 34.172878 deg,
      approachRate: 214.311508 m/s,
      LOS rate: 0.551580 deg/s,
      cmd update: 1.654739 deg/s,
      cmd heading: 13.411499 deg,
      new cmd heading: 11.946446 deg.

2021-08-13T01:06:34.225Z,1628816794.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:06:34.226Z,1628816794.226 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:06:34.226Z,1628816794.226 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:06:34.226Z,1628816794.226 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:06:34.226Z,1628816794.226 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:06:34.226Z,1628816794.226 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:06:34.621Z,1628816794.621 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:06:34.622Z,1628816794.622 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:06:34.622Z,1628816794.622 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:06:34.622Z,1628816794.622 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:06:36.246Z,1628816796.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:36.597Z,1628816796.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:36.597Z,1628816796.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:36.597Z,1628816796.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:36.598Z,1628816796.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:37.026Z,1628816797.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0593A,184,80,80,72,FF
2021-08-13T01:06:37.026Z,1628816797.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:37.029Z,1628816797.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:37.040Z,1628816797.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:37.413Z,1628816797.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:37.814Z,1628816797.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,0043D,186,80,80,B7,FF
2021-08-13T01:06:37.814Z,1628816797.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:38.253Z,1628816798.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010638.57*50

2021-08-13T01:06:38.317Z,1628816798.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 29.596180 deg, deltaT: 4.510393 s, approachRate: -289.424896 m/s, LOS rate: -1.014700 deg/s, posRepo size: 4
2021-08-13T01:06:38.317Z,1628816798.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.60 m.
2021-08-13T01:06:38.318Z,1628816798.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.60 m.
2021-08-13T01:06:38.318Z,1628816798.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:06:38.324Z,1628816798.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.600000 m,
      bearing: 29.596180 deg,
      approachRate: -289.424896 m/s,
      LOS rate: -1.014700 deg/s,
      cmd update: -3.044101 deg/s,
      cmd heading: 20.821171 deg,
      new cmd heading: 21.515697 deg.

2021-08-13T01:06:38.701Z,1628816798.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:06:38.701Z,1628816798.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:38.701Z,1628816798.701 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:06:38.702Z,1628816798.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:06:38.702Z,1628816798.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:06:38.702Z,1628816798.702 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:06:39.074Z,1628816799.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:06:39.074Z,1628816799.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:39.074Z,1628816799.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:06:39.074Z,1628816799.074 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:06:40.705Z,1628816800.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:41.053Z,1628816801.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:41.053Z,1628816801.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:41.053Z,1628816801.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:41.054Z,1628816801.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:41.441Z,1628816801.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,0043D,186,80,80,B7,FF
2021-08-13T01:06:41.441Z,1628816801.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:41.442Z,1628816801.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:41.443Z,1628816801.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:41.868Z,1628816801.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:42.262Z,1628816802.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,0040E,186,80,80,86,FF
2021-08-13T01:06:42.262Z,1628816802.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:42.334Z,1628816802.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:42.705Z,1628816802.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010642.97*51

2021-08-13T01:06:42.741Z,1628816802.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 26.641141 deg, deltaT: 4.406043 s, approachRate: -0.640030 m/s, LOS rate: -0.670679 deg/s, posRepo size: 4
2021-08-13T01:06:42.743Z,1628816802.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 26.641141 deg,
      approachRate: -0.640030 m/s,
      LOS rate: -0.670679 deg/s,
      cmd update: -2.012036 deg/s,
      cmd heading: 7.321851 deg,
      new cmd heading: 6.061977 deg.

2021-08-13T01:06:45.107Z,1628816805.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:45.493Z,1628816805.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:45.493Z,1628816805.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:45.494Z,1628816805.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:45.494Z,1628816805.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:45.933Z,1628816805.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,0040E,186,80,80,86,FF
2021-08-13T01:06:45.934Z,1628816805.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:45.934Z,1628816805.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:45.935Z,1628816805.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:46.320Z,1628816806.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:46.733Z,1628816806.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,003E4,187,80,80,9A,FF
2021-08-13T01:06:46.733Z,1628816806.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:46.809Z,1628816806.809 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:47.145Z,1628816807.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010647.46*58

2021-08-13T01:06:47.191Z,1628816807.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 33.338082 deg, deltaT: 4.474603 s, approachRate: -0.563178 m/s, LOS rate: 1.496656 deg/s, posRepo size: 4
2021-08-13T01:06:47.197Z,1628816807.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 33.338082 deg,
      approachRate: -0.563178 m/s,
      LOS rate: 1.496656 deg/s,
      cmd update: 4.489967 deg/s,
      cmd heading: 358.310699 deg,
      new cmd heading: 357.535784 deg.

2021-08-13T01:06:49.571Z,1628816809.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:49.957Z,1628816809.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:49.957Z,1628816809.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:49.957Z,1628816809.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:49.958Z,1628816809.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:50.345Z,1628816810.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,003E4,187,80,80,9A,FF
2021-08-13T01:06:50.345Z,1628816810.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:50.345Z,1628816810.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:50.347Z,1628816810.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:50.753Z,1628816810.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:51.157Z,1628816811.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,003B9,189,80,80,58,FF
2021-08-13T01:06:51.157Z,1628816811.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:51.206Z,1628816811.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:51.598Z,1628816811.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010651.87*52

2021-08-13T01:06:51.620Z,1628816811.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 32.470958 deg, deltaT: 4.396701 s, approachRate: -0.586804 m/s, LOS rate: -0.197221 deg/s, posRepo size: 4
2021-08-13T01:06:51.622Z,1628816811.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 32.470958 deg,
      approachRate: -0.586804 m/s,
      LOS rate: -0.197221 deg/s,
      cmd update: -0.591664 deg/s,
      cmd heading: 17.944051 deg,
      new cmd heading: 19.924100 deg.

2021-08-13T01:06:54.041Z,1628816814.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:54.389Z,1628816814.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:54.389Z,1628816814.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:54.389Z,1628816814.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:54.390Z,1628816814.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:54.789Z,1628816814.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,003B9,189,80,80,58,FF
2021-08-13T01:06:54.789Z,1628816814.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:54.789Z,1628816814.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:54.791Z,1628816814.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:55.197Z,1628816815.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:06:55.593Z,1628816815.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,00396,187,80,80,89,FF
2021-08-13T01:06:55.594Z,1628816815.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:06:55.619Z,1628816815.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:06:56.050Z,1628816816.050 [Micromodem](INFO): Nmea in: $SNTTA,0.121237,,,,010656.32*41

2021-08-13T01:06:56.095Z,1628816816.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 34.857372 deg, deltaT: 4.412999 s, approachRate: -0.475867 m/s, LOS rate: 0.540769 deg/s, posRepo size: 4
2021-08-13T01:06:56.117Z,1628816816.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 34.857372 deg,
      approachRate: -0.475867 m/s,
      LOS rate: 0.540769 deg/s,
      cmd update: 1.622307 deg/s,
      cmd heading: 15.318823 deg,
      new cmd heading: 15.035345 deg.

2021-08-13T01:06:58.451Z,1628816818.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:06:58.829Z,1628816818.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:06:58.829Z,1628816818.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:06:58.829Z,1628816818.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:06:58.830Z,1628816818.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:06:59.253Z,1628816819.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,00396,187,80,80,89,FF
2021-08-13T01:06:59.253Z,1628816819.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:06:59.253Z,1628816819.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:06:59.255Z,1628816819.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:06:59.645Z,1628816819.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:00.061Z,1628816820.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00377,186,80,80,8B,FF
2021-08-13T01:07:00.061Z,1628816820.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:00.146Z,1628816820.146 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:00.473Z,1628816820.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010700.78*57

2021-08-13T01:07:00.515Z,1628816820.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 32.667979 deg, deltaT: 4.527713 s, approachRate: -0.410804 m/s, LOS rate: -0.483554 deg/s, posRepo size: 4
2021-08-13T01:07:00.520Z,1628816820.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 32.667979 deg,
      approachRate: -0.410804 m/s,
      LOS rate: -0.483554 deg/s,
      cmd update: -1.450662 deg/s,
      cmd heading: 22.657514 deg,
      new cmd heading: 23.267909 deg.

2021-08-13T01:07:02.915Z,1628816822.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:03.297Z,1628816823.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:03.297Z,1628816823.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:03.298Z,1628816823.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:03.299Z,1628816823.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:03.691Z,1628816823.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00377,186,80,80,8B,FF
2021-08-13T01:07:03.692Z,1628816823.692 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:03.693Z,1628816823.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:03.701Z,1628816823.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:04.102Z,1628816824.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:04.485Z,1628816824.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,00341,187,80,80,AE,FF
2021-08-13T01:07:04.485Z,1628816824.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:04.558Z,1628816824.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:04.929Z,1628816824.929 [Micromodem](INFO): Nmea in: $SNTTA,0.028324,,,,010705.23*4D

2021-08-13T01:07:04.967Z,1628816824.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 35.715186 deg, deltaT: 4.412082 s, approachRate: -0.734348 m/s, LOS rate: 0.690651 deg/s, posRepo size: 4
2021-08-13T01:07:04.969Z,1628816824.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 35.715186 deg,
      approachRate: -0.734348 m/s,
      LOS rate: 0.690651 deg/s,
      cmd update: 2.071952 deg/s,
      cmd heading: 16.251126 deg,
      new cmd heading: 15.654368 deg.

2021-08-13T01:07:07.369Z,1628816827.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:07.745Z,1628816827.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:07.745Z,1628816827.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:07.745Z,1628816827.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:07.746Z,1628816827.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:08.138Z,1628816828.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,00341,187,80,80,AE,FF
2021-08-13T01:07:08.139Z,1628816828.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:08.139Z,1628816828.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:08.142Z,1628816828.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:08.534Z,1628816828.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:08.925Z,1628816828.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,0021E,186,80,80,B5,FF
2021-08-13T01:07:08.926Z,1628816828.926 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T01:07:09.362Z,1628816829.362 [Micromodem](INFO): Nmea in: $SNTTA,0.023494,,,,010709.67*46

2021-08-13T01:07:10.203Z,1628816830.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:13.050Z,1628816833.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:13.373Z,1628816833.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:13.373Z,1628816833.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:13.373Z,1628816833.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:13.374Z,1628816833.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:13.782Z,1628816833.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,0021E,186,80,80,B5,FF
2021-08-13T01:07:13.782Z,1628816833.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:13.782Z,1628816833.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:13.784Z,1628816833.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:14.284Z,1628816834.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:14.701Z,1628816834.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,002FD,186,80,80,AB,FF
2021-08-13T01:07:14.701Z,1628816834.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:14.774Z,1628816834.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:15.093Z,1628816835.093 [Micromodem](INFO): Nmea in: $SNTTA,0.024142,,,,010715.31*41

2021-08-13T01:07:15.115Z,1628816835.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 44.562114 deg, deltaT: 10.216065 s, approachRate: -0.399371 m/s, LOS rate: 0.865982 deg/s, posRepo size: 4
2021-08-13T01:07:15.118Z,1628816835.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 44.562114 deg,
      approachRate: -0.399371 m/s,
      LOS rate: 0.865982 deg/s,
      cmd update: 2.597946 deg/s,
      cmd heading: 37.417678 deg,
      new cmd heading: 38.130902 deg.

2021-08-13T01:07:17.530Z,1628816837.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:17.953Z,1628816837.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:17.953Z,1628816837.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:17.953Z,1628816837.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:17.954Z,1628816837.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:18.309Z,1628816838.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,002FD,186,80,80,AB,FF
2021-08-13T01:07:18.309Z,1628816838.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:18.309Z,1628816838.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:18.311Z,1628816838.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:18.746Z,1628816838.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:19.117Z,1628816839.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,002CA,183,80,80,5E,FF
2021-08-13T01:07:19.117Z,1628816839.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:19.138Z,1628816839.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:19.566Z,1628816839.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010719.84*5C

2021-08-13T01:07:19.590Z,1628816839.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 45.038004 deg, deltaT: 4.363878 s, approachRate: -0.701211 m/s, LOS rate: 0.109052 deg/s, posRepo size: 4
2021-08-13T01:07:19.592Z,1628816839.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 45.038004 deg,
      approachRate: -0.701211 m/s,
      LOS rate: 0.109052 deg/s,
      cmd update: 0.327156 deg/s,
      cmd heading: 48.755593 deg,
      new cmd heading: 49.936593 deg.

2021-08-13T01:07:22.059Z,1628816842.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:22.357Z,1628816842.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:22.357Z,1628816842.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:22.357Z,1628816842.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:22.358Z,1628816842.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:22.754Z,1628816842.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,002CA,183,80,80,5E,FF
2021-08-13T01:07:22.754Z,1628816842.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:22.754Z,1628816842.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:22.757Z,1628816842.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:23.168Z,1628816843.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:23.563Z,1628816843.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,002C0,186,80,80,79,FF
2021-08-13T01:07:23.580Z,1628816843.580 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:23.675Z,1628816843.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:24.009Z,1628816844.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010724.29*55

2021-08-13T01:07:24.076Z,1628816844.076 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T01:07:24.076Z,1628816844.076 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:07:24.076Z,1628816844.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T01:07:24.076Z,1628816844.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:07:24.076Z,1628816844.076 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T01:07:24.077Z,1628816844.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T01:07:24.077Z,1628816844.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T01:07:24.077Z,1628816844.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T01:07:24.077Z,1628816844.077 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T01:07:24.080Z,1628816844.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 67.697550 deg, deltaT: 4.541919 s, approachRate: -0.132103 m/s, LOS rate: 4.988981 deg/s, posRepo size: 4
2021-08-13T01:07:24.082Z,1628816844.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 67.697550 deg,
      approachRate: -0.132103 m/s,
      LOS rate: 4.988981 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 50.229472 deg,
      new cmd heading: 50.373226 deg.

2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T010724: (41.552319, -70.708603)
2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T01:07:24.447Z,1628816844.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:07:24.452Z,1628816844.452 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T01:07:24.452Z,1628816844.452 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T01:07:24.452Z,1628816844.452 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:07:26.427Z,1628816846.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:26.801Z,1628816846.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:26.801Z,1628816846.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:26.801Z,1628816846.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:26.802Z,1628816846.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:27.198Z,1628816847.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,002C0,186,80,80,79,FF
2021-08-13T01:07:27.199Z,1628816847.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:27.199Z,1628816847.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:27.201Z,1628816847.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:27.616Z,1628816847.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:28.010Z,1628816848.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,002D4,187,80,80,AC,FF
2021-08-13T01:07:28.010Z,1628816848.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:28.103Z,1628816848.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:28.457Z,1628816848.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010728.73*56

2021-08-13T01:07:28.487Z,1628816848.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 64.286471 deg, deltaT: 4.422795 s, approachRate: 0.271322 m/s, LOS rate: -0.771249 deg/s, posRepo size: 4
2021-08-13T01:07:28.512Z,1628816848.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 64.286471 deg,
      approachRate: 0.271322 m/s,
      LOS rate: -0.771249 deg/s,
      cmd update: -2.313748 deg/s,
      cmd heading: 103.696710 deg,
      new cmd heading: 108.377634 deg.

2021-08-13T01:07:30.920Z,1628816850.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:31.241Z,1628816851.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:31.241Z,1628816851.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:31.241Z,1628816851.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:31.242Z,1628816851.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:31.650Z,1628816851.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,002D4,187,80,80,AC,FF
2021-08-13T01:07:31.650Z,1628816851.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:31.650Z,1628816851.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:31.652Z,1628816851.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:32.087Z,1628816852.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:32.457Z,1628816852.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,002F8,186,80,80,7D,FF
2021-08-13T01:07:32.457Z,1628816852.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:32.548Z,1628816852.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:32.905Z,1628816852.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010733.18*51

2021-08-13T01:07:32.934Z,1628816852.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 88.407599 deg, deltaT: 4.444953 s, approachRate: 0.485944 m/s, LOS rate: 5.426633 deg/s, posRepo size: 4
2021-08-13T01:07:32.937Z,1628816852.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 88.407599 deg,
      approachRate: 0.485944 m/s,
      LOS rate: 5.426633 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.450643 deg,
      new cmd heading: 92.501842 deg.

2021-08-13T01:07:35.307Z,1628816855.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:35.702Z,1628816855.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:35.702Z,1628816855.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:35.702Z,1628816855.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:35.703Z,1628816855.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:36.093Z,1628816856.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,002F8,186,80,80,7D,FF
2021-08-13T01:07:36.093Z,1628816856.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:36.093Z,1628816856.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:36.095Z,1628816856.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:36.509Z,1628816856.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:36.909Z,1628816856.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,0031F,186,80,80,B1,FF
2021-08-13T01:07:36.909Z,1628816856.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:36.982Z,1628816856.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:37.349Z,1628816857.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010737.62*58

2021-08-13T01:07:37.376Z,1628816857.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 94.489411 deg, deltaT: 4.433792 s, approachRate: 0.527765 m/s, LOS rate: 1.371695 deg/s, posRepo size: 4
2021-08-13T01:07:37.378Z,1628816857.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 94.489411 deg,
      approachRate: 0.527765 m/s,
      LOS rate: 1.371695 deg/s,
      cmd update: 4.115087 deg/s,
      cmd heading: 146.704845 deg,
      new cmd heading: 151.667625 deg.

2021-08-13T01:07:39.770Z,1628816859.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:40.133Z,1628816860.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:40.133Z,1628816860.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:40.133Z,1628816860.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:40.134Z,1628816860.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:40.541Z,1628816860.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,0031F,186,80,80,B1,FF
2021-08-13T01:07:40.541Z,1628816860.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:40.541Z,1628816860.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:40.543Z,1628816860.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:40.952Z,1628816860.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:41.351Z,1628816861.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00342,188,80,80,A0,FF
2021-08-13T01:07:41.352Z,1628816861.352 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:41.372Z,1628816861.372 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:41.781Z,1628816861.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010742.07*59

2021-08-13T01:07:41.848Z,1628816861.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 135.977810 deg, deltaT: 4.390647 s, approachRate: 0.478290 m/s, LOS rate: 9.449268 deg/s, posRepo size: 4
2021-08-13T01:07:41.850Z,1628816861.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.54 m. Rolling out.
2021-08-13T01:07:41.860Z,1628816861.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T01:07:44.248Z,1628816864.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:44.581Z,1628816864.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:44.581Z,1628816864.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:44.582Z,1628816864.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:44.582Z,1628816864.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:44.985Z,1628816864.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00342,188,80,80,A0,FF
2021-08-13T01:07:44.985Z,1628816864.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:44.985Z,1628816864.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:44.987Z,1628816864.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:45.397Z,1628816865.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:45.789Z,1628816865.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00369,186,80,80,88,FF
2021-08-13T01:07:45.789Z,1628816865.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:45.918Z,1628816865.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:46.313Z,1628816866.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010746.52*5D

2021-08-13T01:07:46.378Z,1628816866.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 151.597333 deg, deltaT: 4.545881 s, approachRate: 0.514751 m/s, LOS rate: 3.435973 deg/s, posRepo size: 4
2021-08-13T01:07:48.651Z,1628816868.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:49.021Z,1628816869.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:49.021Z,1628816869.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:49.021Z,1628816869.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:49.022Z,1628816869.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:49.429Z,1628816869.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00369,186,80,80,88,FF
2021-08-13T01:07:49.429Z,1628816869.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:49.429Z,1628816869.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:49.431Z,1628816869.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:49.839Z,1628816869.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:50.241Z,1628816870.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,00382,186,80,80,6F,FF
2021-08-13T01:07:50.242Z,1628816870.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:50.282Z,1628816870.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:50.805Z,1628816870.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010750.96*52

2021-08-13T01:07:50.887Z,1628816870.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 170.238326 deg, deltaT: 4.364033 s, approachRate: 0.343719 m/s, LOS rate: 4.271506 deg/s, posRepo size: 4
2021-08-13T01:07:53.099Z,1628816873.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:53.481Z,1628816873.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:53.481Z,1628816873.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:53.481Z,1628816873.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:53.482Z,1628816873.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:53.924Z,1628816873.924 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,00382,186,80,80,6F,FF
2021-08-13T01:07:53.924Z,1628816873.924 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:53.925Z,1628816873.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:53.926Z,1628816873.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:53.930Z,1628816873.930 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:07:54.309Z,1628816874.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:54.729Z,1628816874.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00393,187,80,80,42,FF
2021-08-13T01:07:54.729Z,1628816874.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:54.801Z,1628816874.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:55.137Z,1628816875.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010755.45*59

2021-08-13T01:07:55.183Z,1628816875.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 193.414278 deg, deltaT: 4.519088 s, approachRate: 0.225709 m/s, LOS rate: 5.128458 deg/s, posRepo size: 4
2021-08-13T01:07:57.551Z,1628816877.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:07:57.957Z,1628816877.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:07:57.957Z,1628816877.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:07:57.957Z,1628816877.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:07:57.958Z,1628816877.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:07:58.349Z,1628816878.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00393,187,80,80,42,FF
2021-08-13T01:07:58.349Z,1628816878.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:07:58.350Z,1628816878.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:07:58.351Z,1628816878.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:07:58.753Z,1628816878.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:07:59.153Z,1628816879.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,003A9,187,80,80,9D,FF
2021-08-13T01:07:59.153Z,1628816879.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:07:59.174Z,1628816879.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:07:59.593Z,1628816879.593 [Micromodem](INFO): Nmea in: $SNTTA,0.113800,,,,010759.88*41

2021-08-13T01:07:59.633Z,1628816879.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 196.878741 deg, deltaT: 4.372185 s, approachRate: 0.301908 m/s, LOS rate: 0.792387 deg/s, posRepo size: 4
2021-08-13T01:08:02.054Z,1628816882.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:02.389Z,1628816882.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:02.389Z,1628816882.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:02.389Z,1628816882.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:02.390Z,1628816882.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:02.785Z,1628816882.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,003A9,187,80,80,9D,FF
2021-08-13T01:08:02.785Z,1628816882.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:02.785Z,1628816882.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:02.787Z,1628816882.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:03.193Z,1628816883.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:03.593Z,1628816883.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,003C5,186,80,80,59,FF
2021-08-13T01:08:03.593Z,1628816883.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:03.613Z,1628816883.613 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:04.033Z,1628816884.033 [Micromodem](INFO): Nmea in: $SNTTA,0.048986,,,,010804.31*44

2021-08-13T01:08:04.093Z,1628816884.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 178.316240 deg, deltaT: 4.439582 s, approachRate: 0.378415 m/s, LOS rate: -4.181137 deg/s, posRepo size: 4
2021-08-13T01:08:06.439Z,1628816886.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:06.829Z,1628816886.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:06.829Z,1628816886.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:06.830Z,1628816886.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:06.831Z,1628816886.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:07.233Z,1628816887.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,003C5,186,80,80,59,FF
2021-08-13T01:08:07.234Z,1628816887.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:07.234Z,1628816887.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:07.235Z,1628816887.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:07.639Z,1628816887.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:08.041Z,1628816888.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,003E4,18A,80,80,59,FF
2021-08-13T01:08:08.041Z,1628816888.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:08.114Z,1628816888.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:08.473Z,1628816888.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010808.76*5E

2021-08-13T01:08:08.509Z,1628816888.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 133.931431 deg, deltaT: 4.501188 s, approachRate: 0.413224 m/s, LOS rate: -9.860688 deg/s, posRepo size: 4
2021-08-13T01:08:10.905Z,1628816890.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:11.281Z,1628816891.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:11.281Z,1628816891.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:11.281Z,1628816891.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:11.282Z,1628816891.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:11.688Z,1628816891.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,003E4,18A,80,80,59,FF
2021-08-13T01:08:11.689Z,1628816891.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:11.689Z,1628816891.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:11.696Z,1628816891.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:12.119Z,1628816892.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:12.485Z,1628816892.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,0040B,185,80,80,78,FF
2021-08-13T01:08:12.486Z,1628816892.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:12.506Z,1628816892.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:12.925Z,1628816892.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010813.22*55

2021-08-13T01:08:12.975Z,1628816892.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 188.639825 deg, deltaT: 4.391382 s, approachRate: 0.532861 m/s, LOS rate: 12.458127 deg/s, posRepo size: 4
2021-08-13T01:08:15.327Z,1628816895.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:15.737Z,1628816895.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:15.737Z,1628816895.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:15.737Z,1628816895.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:15.738Z,1628816895.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:16.125Z,1628816896.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,0040B,185,80,80,78,FF
2021-08-13T01:08:16.126Z,1628816896.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:16.126Z,1628816896.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:16.128Z,1628816896.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:16.533Z,1628816896.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:16.925Z,1628816896.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00433,187,80,80,7E,FF
2021-08-13T01:08:16.925Z,1628816896.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:16.955Z,1628816896.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:17.361Z,1628816897.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010817.66*51

2021-08-13T01:08:17.409Z,1628816897.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 182.693272 deg, deltaT: 4.449191 s, approachRate: 0.539424 m/s, LOS rate: -1.336547 deg/s, posRepo size: 4
2021-08-13T01:08:19.806Z,1628816899.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:20.157Z,1628816900.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:20.157Z,1628816900.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:20.157Z,1628816900.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:20.158Z,1628816900.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:20.571Z,1628816900.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00433,187,80,80,7E,FF
2021-08-13T01:08:20.571Z,1628816900.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:20.571Z,1628816900.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:20.573Z,1628816900.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:20.977Z,1628816900.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:21.390Z,1628816901.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFC,000,0045E,186,80,80,7C,FF
2021-08-13T01:08:21.391Z,1628816901.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:21.415Z,1628816901.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:21.810Z,1628816901.810 [Micromodem](INFO): Nmea in: $SNTTA,0.044919,,,,010822.10*49

2021-08-13T01:08:21.841Z,1628816901.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 184.933328 deg, deltaT: 4.459576 s, approachRate: 0.578530 m/s, LOS rate: 0.502303 deg/s, posRepo size: 4
2021-08-13T01:08:23.933Z,1628816903.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:24.201Z,1628816904.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:24.201Z,1628816904.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:24.201Z,1628816904.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:24.202Z,1628816904.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:24.618Z,1628816904.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFC,000,0045E,186,80,80,7C,FF
2021-08-13T01:08:24.618Z,1628816904.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:24.618Z,1628816904.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:24.621Z,1628816904.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:25.012Z,1628816905.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:25.410Z,1628816905.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00486,187,80,80,44,FF
2021-08-13T01:08:25.411Z,1628816905.411 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:25.469Z,1628816905.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:25.842Z,1628816905.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010826.15*57

2021-08-13T01:08:25.936Z,1628816905.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 186.284339 deg, deltaT: 4.055105 s, approachRate: 0.591846 m/s, LOS rate: 0.333163 deg/s, posRepo size: 4
2021-08-13T01:08:28.298Z,1628816908.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:28.649Z,1628816908.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:28.649Z,1628816908.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:28.650Z,1628816908.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:28.650Z,1628816908.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:29.045Z,1628816909.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00486,187,80,80,44,FF
2021-08-13T01:08:29.045Z,1628816909.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:29.046Z,1628816909.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:29.047Z,1628816909.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:29.464Z,1628816909.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:29.873Z,1628816909.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,004BB,185,80,80,7B,FF
2021-08-13T01:08:29.875Z,1628816909.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:29.988Z,1628816909.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:30.310Z,1628816910.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010830.57*56

2021-08-13T01:08:30.349Z,1628816910.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 193.628773 deg, deltaT: 4.518758 s, approachRate: 0.703733 m/s, LOS rate: 1.625321 deg/s, posRepo size: 4
2021-08-13T01:08:32.801Z,1628816912.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:33.101Z,1628816913.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:33.101Z,1628816913.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:33.101Z,1628816913.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:33.102Z,1628816913.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:33.513Z,1628816913.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,004BB,185,80,80,7B,FF
2021-08-13T01:08:33.514Z,1628816913.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:33.514Z,1628816913.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:33.515Z,1628816913.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:33.957Z,1628816913.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:34.309Z,1628816914.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,004EC,187,80,80,61,FF
2021-08-13T01:08:34.310Z,1628816914.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:34.335Z,1628816914.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:34.772Z,1628816914.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010835.04*55

2021-08-13T01:08:34.799Z,1628816914.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 187.353195 deg, deltaT: 4.346670 s, approachRate: 0.676380 m/s, LOS rate: -1.443767 deg/s, posRepo size: 4
2021-08-13T01:08:36.033Z,1628816916.033 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:08:37.195Z,1628816917.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:37.545Z,1628816917.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:37.545Z,1628816917.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:37.545Z,1628816917.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:37.546Z,1628816917.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:37.961Z,1628816917.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,004EC,187,80,80,61,FF
2021-08-13T01:08:37.961Z,1628816917.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:37.961Z,1628816917.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:37.963Z,1628816917.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:38.365Z,1628816918.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:38.753Z,1628816918.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,00519,186,80,80,7D,FF
2021-08-13T01:08:38.754Z,1628816918.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:38.783Z,1628816918.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:08:39.189Z,1628816919.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010839.49*50

2021-08-13T01:08:39.236Z,1628816919.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 180.879447 deg, deltaT: 4.448305 s, approachRate: 0.606973 m/s, LOS rate: -1.455329 deg/s, posRepo size: 4
2021-08-13T01:08:39.605Z,1628816919.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:08:39.605Z,1628816919.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:08:39.605Z,1628816919.605 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:08:39.606Z,1628816919.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:08:39.606Z,1628816919.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:08:39.606Z,1628816919.606 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:08:40.046Z,1628816920.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:08:40.046Z,1628816920.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:08:40.046Z,1628816920.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:08:40.046Z,1628816920.046 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:08:41.607Z,1628816921.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:41.997Z,1628816921.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:41.997Z,1628816921.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:41.998Z,1628816921.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:41.999Z,1628816921.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:42.397Z,1628816922.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,00519,186,80,80,7D,FF
2021-08-13T01:08:42.397Z,1628816922.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:42.397Z,1628816922.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:42.399Z,1628816922.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:42.805Z,1628816922.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:43.207Z,1628816923.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00551,187,80,80,40,FF
2021-08-13T01:08:43.207Z,1628816923.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:43.639Z,1628816923.639 [Micromodem](INFO): Nmea in: $SNTTA,0.242068,,,,010843.92*4F

2021-08-13T01:08:43.710Z,1628816923.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 178.786157 deg, deltaT: 4.442992 s, approachRate: 0.756247 m/s, LOS rate: -0.471144 deg/s, posRepo size: 4
2021-08-13T01:08:46.092Z,1628816926.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:46.433Z,1628816926.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:46.433Z,1628816926.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:46.433Z,1628816926.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:46.434Z,1628816926.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:46.849Z,1628816926.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00551,187,80,80,40,FF
2021-08-13T01:08:46.849Z,1628816926.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:46.850Z,1628816926.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:46.853Z,1628816926.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:47.257Z,1628816927.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:47.675Z,1628816927.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,00580,184,80,80,82,FF
2021-08-13T01:08:47.681Z,1628816927.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:48.089Z,1628816928.089 [Micromodem](INFO): Nmea in: $SNTTA,0.043362,,,,010848.38*4E

2021-08-13T01:08:48.161Z,1628816928.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 172.749828 deg, deltaT: 4.539154 s, approachRate: 0.621260 m/s, LOS rate: -1.329836 deg/s, posRepo size: 4
2021-08-13T01:08:50.502Z,1628816930.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:50.881Z,1628816930.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:50.881Z,1628816930.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:50.881Z,1628816930.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:50.882Z,1628816930.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:51.285Z,1628816931.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,00580,184,80,80,82,FF
2021-08-13T01:08:51.285Z,1628816931.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:51.285Z,1628816931.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:51.287Z,1628816931.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:51.713Z,1628816931.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:52.089Z,1628816932.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,005B3,187,80,80,77,FF
2021-08-13T01:08:52.090Z,1628816932.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:52.093Z,1628816932.093 [Micromodem](INFO): Nmea in: $SNTTA,0.236361,0.236511,,,010852.82*5B

2021-08-13T01:08:52.544Z,1628816932.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.039997 m, bearing: 177.932179 deg, deltaT: 4.425934 s, approachRate: 0.691380 m/s, LOS rate: 1.170906 deg/s, posRepo size: 4
2021-08-13T01:08:54.964Z,1628816934.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:55.323Z,1628816935.323 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:55.323Z,1628816935.323 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:55.323Z,1628816935.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:55.324Z,1628816935.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:08:55.734Z,1628816935.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,005B3,187,80,80,77,FF
2021-08-13T01:08:55.735Z,1628816935.735 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:08:55.735Z,1628816935.735 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:08:55.736Z,1628816935.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:08:56.144Z,1628816936.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:08:56.542Z,1628816936.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,005E6,186,80,80,72,FF
2021-08-13T01:08:56.542Z,1628816936.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:08:56.981Z,1628816936.981 [Micromodem](INFO): Nmea in: $SNTTA,0.052020,,,,010857.26*4A

2021-08-13T01:08:57.035Z,1628816937.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 146.905840 deg, deltaT: 4.370059 s, approachRate: 0.700221 m/s, LOS rate: -7.099753 deg/s, posRepo size: 4
2021-08-13T01:08:59.387Z,1628816939.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:08:59.765Z,1628816939.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:08:59.765Z,1628816939.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:08:59.765Z,1628816939.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:08:59.766Z,1628816939.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:00.177Z,1628816940.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,005E6,186,80,80,72,FF
2021-08-13T01:09:00.177Z,1628816940.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:00.178Z,1628816940.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:00.179Z,1628816940.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:00.585Z,1628816940.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:00.977Z,1628816940.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30D,000,0061B,189,80,80,72,FF
2021-08-13T01:09:00.977Z,1628816940.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:01.417Z,1628816941.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010901.71*51

2021-08-13T01:09:01.449Z,1628816941.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 130.536007 deg, deltaT: 4.445357 s, approachRate: 0.715351 m/s, LOS rate: -3.682456 deg/s, posRepo size: 4
2021-08-13T01:09:03.915Z,1628816943.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:04.209Z,1628816944.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:04.209Z,1628816944.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:04.209Z,1628816944.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:04.210Z,1628816944.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:04.618Z,1628816944.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30D,000,0061B,189,80,80,72,FF
2021-08-13T01:09:04.618Z,1628816944.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:04.618Z,1628816944.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:04.620Z,1628816944.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:05.021Z,1628816945.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:05.417Z,1628816945.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,00416,188,80,80,95,FF
2021-08-13T01:09:05.418Z,1628816945.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:05.878Z,1628816945.878 [Micromodem](INFO): Nmea in: $SNTTA,0.024247,,,,010906.15*4D

2021-08-13T01:09:05.950Z,1628816945.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 130.702404 deg, deltaT: 4.431777 s, approachRate: -6.999450 m/s, LOS rate: 0.037546 deg/s, posRepo size: 4
2021-08-13T01:09:06.292Z,1628816946.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:09:06.293Z,1628816946.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:09:06.293Z,1628816946.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:09:06.293Z,1628816946.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:09:06.294Z,1628816946.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:09:06.294Z,1628816946.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:09:06.709Z,1628816946.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:09:06.709Z,1628816946.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:09:06.709Z,1628816946.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:09:06.709Z,1628816946.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:09:08.300Z,1628816948.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:08.660Z,1628816948.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:08.661Z,1628816948.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:08.661Z,1628816948.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:08.663Z,1628816948.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:09.053Z,1628816949.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,00416,188,80,80,95,FF
2021-08-13T01:09:09.053Z,1628816949.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:09.054Z,1628816949.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:09.055Z,1628816949.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:09.476Z,1628816949.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:09.881Z,1628816949.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00682,189,80,80,91,FF
2021-08-13T01:09:09.882Z,1628816949.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:10.038Z,1628816950.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:09:10.281Z,1628816950.281 [Micromodem](INFO): Nmea in: $SNTTA,0.352488,0.352663,,,010910.58*5D

2021-08-13T01:09:10.324Z,1628816950.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 131.212756 deg, deltaT: 4.599607 s, approachRate: 8.087648 m/s, LOS rate: 0.110956 deg/s, posRepo size: 4
2021-08-13T01:09:10.737Z,1628816950.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:09:10.737Z,1628816950.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:09:10.737Z,1628816950.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:09:10.738Z,1628816950.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:09:10.738Z,1628816950.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:09:10.738Z,1628816950.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:09:11.109Z,1628816951.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:09:11.109Z,1628816951.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:09:11.109Z,1628816951.109 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:09:11.110Z,1628816951.110 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:09:12.769Z,1628816952.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:13.105Z,1628816953.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:13.105Z,1628816953.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:13.105Z,1628816953.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:13.106Z,1628816953.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:13.509Z,1628816953.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00682,189,80,80,91,FF
2021-08-13T01:09:13.509Z,1628816953.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:13.509Z,1628816953.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:13.511Z,1628816953.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:13.956Z,1628816953.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:14.313Z,1628816954.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,006B7,189,80,80,8E,FF
2021-08-13T01:09:14.313Z,1628816954.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:14.765Z,1628816954.765 [Micromodem](INFO): Nmea in: $SNTTA,0.053963,,,,010915.04*42

2021-08-13T01:09:14.815Z,1628816954.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.639999 m, bearing: 133.826683 deg, deltaT: 4.326918 s, approachRate: 0.734934 m/s, LOS rate: 0.604108 deg/s, posRepo size: 4
2021-08-13T01:09:17.202Z,1628816957.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:17.549Z,1628816957.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:17.549Z,1628816957.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:17.550Z,1628816957.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:17.550Z,1628816957.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:17.957Z,1628816957.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,006B7,189,80,80,8E,FF
2021-08-13T01:09:17.958Z,1628816957.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:17.958Z,1628816957.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:17.960Z,1628816957.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:18.357Z,1628816958.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:18.753Z,1628816958.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,006F2,186,80,80,8E,FF
2021-08-13T01:09:18.753Z,1628816958.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:19.193Z,1628816959.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010919.49*53

2021-08-13T01:09:19.216Z,1628816959.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 184.820479 deg, deltaT: 4.474399 s, approachRate: 0.791170 m/s, LOS rate: 11.396792 deg/s, posRepo size: 4
2021-08-13T01:09:21.615Z,1628816961.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:21.993Z,1628816961.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:21.994Z,1628816961.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:21.994Z,1628816961.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:21.995Z,1628816961.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:22.405Z,1628816962.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,006F2,186,80,80,8E,FF
2021-08-13T01:09:22.405Z,1628816962.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:22.405Z,1628816962.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:22.407Z,1628816962.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:22.817Z,1628816962.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:23.618Z,1628816963.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010923.93*5D

2021-08-13T01:09:24.441Z,1628816964.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:26.037Z,1628816966.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,09619,186,80,80,A3,FF
2021-08-13T01:09:26.038Z,1628816966.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:26.476Z,1628816966.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2268.000000 m, bearing: 183.707104 deg, deltaT: 7.284840 s, approachRate: 301.835052 m/s, LOS rate: -0.152835 deg/s, posRepo size: 4
2021-08-13T01:09:26.477Z,1628816966.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2268.00 m. Resuming terminal guidance.
2021-08-13T01:09:26.477Z,1628816966.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:09:28.940Z,1628816968.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:29.261Z,1628816969.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:29.261Z,1628816969.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:29.261Z,1628816969.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:29.262Z,1628816969.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:29.673Z,1628816969.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,09619,186,80,80,A3,FF
2021-08-13T01:09:29.674Z,1628816969.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:29.674Z,1628816969.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:29.682Z,1628816969.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:30.090Z,1628816970.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:30.490Z,1628816970.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00779,186,80,80,76,FF
2021-08-13T01:09:30.490Z,1628816970.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:30.933Z,1628816970.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010931.21*57

2021-08-13T01:09:30.958Z,1628816970.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 182.472807 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:09:30.959Z,1628816970.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 182.472807deg and heading rate command to 0 deg/s.
2021-08-13T01:09:33.334Z,1628816973.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:33.745Z,1628816973.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:33.745Z,1628816973.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:33.746Z,1628816973.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:33.747Z,1628816973.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:34.117Z,1628816974.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00779,186,80,80,76,FF
2021-08-13T01:09:34.117Z,1628816974.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:34.117Z,1628816974.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:34.119Z,1628816974.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:34.521Z,1628816974.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:34.925Z,1628816974.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,007AF,189,80,80,91,FF
2021-08-13T01:09:34.925Z,1628816974.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:35.371Z,1628816975.371 [Micromodem](INFO): Nmea in: $SNTTA,0.062205,,,,010935.64*4F

2021-08-13T01:09:35.395Z,1628816975.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 141.550725 deg, deltaT: 4.430701 s, approachRate: 0.731261 m/s, LOS rate: -9.236029 deg/s, posRepo size: 2
2021-08-13T01:09:35.398Z,1628816975.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.520004 m,
      bearing: 141.550725 deg,
      approachRate: 0.731261 m/s,
      LOS rate: -9.236029 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.472807 deg,
      new cmd heading: 182.472807 deg.

2021-08-13T01:09:37.801Z,1628816977.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:38.157Z,1628816978.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:38.157Z,1628816978.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:38.158Z,1628816978.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:38.158Z,1628816978.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:38.558Z,1628816978.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,007AF,189,80,80,91,FF
2021-08-13T01:09:38.558Z,1628816978.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:38.558Z,1628816978.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:38.560Z,1628816978.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:38.960Z,1628816978.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:39.794Z,1628816979.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010940.09*5B

2021-08-13T01:09:40.602Z,1628816980.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:42.191Z,1628816982.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,91,FF
2021-08-13T01:09:42.191Z,1628816982.191 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,91,FF
2021-08-13T01:09:42.191Z,1628816982.191 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:09:43.422Z,1628816983.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:43.805Z,1628816983.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:43.805Z,1628816983.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:43.805Z,1628816983.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:43.806Z,1628816983.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:44.209Z,1628816984.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,91,FF
2021-08-13T01:09:44.209Z,1628816984.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:44.209Z,1628816984.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:44.211Z,1628816984.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:44.624Z,1628816984.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:45.021Z,1628816985.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,0081F,187,80,80,5F,FF
2021-08-13T01:09:45.021Z,1628816985.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:45.453Z,1628816985.453 [Micromodem](INFO): Nmea in: $SNTTA,0.077891,,,,010945.74*4A

2021-08-13T01:09:45.487Z,1628816985.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.239998 m, bearing: 176.557234 deg, deltaT: 10.086529 s, approachRate: 0.666234 m/s, LOS rate: 3.470620 deg/s, posRepo size: 3
2021-08-13T01:09:45.489Z,1628816985.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.239998 m,
      bearing: 176.557234 deg,
      approachRate: 0.666234 m/s,
      LOS rate: 3.470620 deg/s,
      cmd update: 10.411860 deg/s,
      cmd heading: 61.675043 deg,
      new cmd heading: 56.408579 deg.

2021-08-13T01:09:47.964Z,1628816987.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:48.253Z,1628816988.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:48.253Z,1628816988.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:48.253Z,1628816988.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:48.254Z,1628816988.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:48.662Z,1628816988.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,0081F,187,80,80,5F,FF
2021-08-13T01:09:48.662Z,1628816988.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:48.663Z,1628816988.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:48.669Z,1628816988.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:49.060Z,1628816989.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:49.461Z,1628816989.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,0084C,187,80,80,76,FF
2021-08-13T01:09:49.461Z,1628816989.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:49.941Z,1628816989.941 [Micromodem](INFO): Nmea in: $SNTTA,0.076351,,,,010950.19*43

2021-08-13T01:09:50.001Z,1628816990.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 125.329627 deg, deltaT: 4.406602 s, approachRate: 0.612718 m/s, LOS rate: -11.625195 deg/s, posRepo size: 4
2021-08-13T01:09:50.002Z,1628816990.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.625195 deg/s. Setting heading cmd to target bearing of 125.329627deg and heading rate command to 0 deg/s.
2021-08-13T01:09:51.995Z,1628816991.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:52.289Z,1628816992.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:52.289Z,1628816992.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:52.289Z,1628816992.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:52.290Z,1628816992.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:52.708Z,1628816992.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,0084C,187,80,80,76,FF
2021-08-13T01:09:52.709Z,1628816992.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:52.709Z,1628816992.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:52.710Z,1628816992.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:53.100Z,1628816993.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:53.935Z,1628816993.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010954.24*51

2021-08-13T01:09:54.769Z,1628816994.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:56.333Z,1628816996.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,76,FF
2021-08-13T01:09:56.333Z,1628816996.333 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,76,FF
2021-08-13T01:09:56.333Z,1628816996.333 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:09:57.578Z,1628816997.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:09:57.953Z,1628816997.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:09:57.953Z,1628816997.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:09:57.953Z,1628816997.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:09:57.954Z,1628816997.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:09:58.349Z,1628816998.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,76,FF
2021-08-13T01:09:58.349Z,1628816998.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:09:58.350Z,1628816998.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:09:58.351Z,1628816998.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:09:58.756Z,1628816998.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:09:59.161Z,1628816999.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,008BD,186,80,80,80,FF
2021-08-13T01:09:59.161Z,1628816999.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:09:59.593Z,1628816999.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,010959.88*5A

2021-08-13T01:09:59.636Z,1628816999.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 138.362584 deg, deltaT: 9.748330 s, approachRate: 0.695504 m/s, LOS rate: 1.336943 deg/s, posRepo size: 4
2021-08-13T01:09:59.639Z,1628816999.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.720001 m,
      bearing: 138.362584 deg,
      approachRate: 0.695504 m/s,
      LOS rate: 1.336943 deg/s,
      cmd update: 4.010828 deg/s,
      cmd heading: 125.329627 deg,
      new cmd heading: 125.329627 deg.

2021-08-13T01:10:02.014Z,1628817002.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:02.397Z,1628817002.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:02.397Z,1628817002.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:02.397Z,1628817002.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:02.398Z,1628817002.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:02.793Z,1628817002.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,008BD,186,80,80,80,FF
2021-08-13T01:10:02.793Z,1628817002.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:02.793Z,1628817002.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:02.795Z,1628817002.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:03.209Z,1628817003.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:03.597Z,1628817003.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,008F5,187,80,80,1C,FF
2021-08-13T01:10:03.598Z,1628817003.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:04.057Z,1628817004.057 [Micromodem](INFO): Nmea in: $SNTTA,0.070362,,,,011004.32*45

2021-08-13T01:10:04.107Z,1628817004.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 156.361157 deg, deltaT: 4.427505 s, approachRate: 0.758893 m/s, LOS rate: 4.065173 deg/s, posRepo size: 4
2021-08-13T01:10:04.114Z,1628817004.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.080002 m,
      bearing: 156.361157 deg,
      approachRate: 0.758893 m/s,
      LOS rate: 4.065173 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 143.088047 deg,
      new cmd heading: 144.921168 deg.

2021-08-13T01:10:06.509Z,1628817006.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:06.854Z,1628817006.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:06.854Z,1628817006.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:06.854Z,1628817006.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:06.855Z,1628817006.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:07.253Z,1628817007.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,008F5,187,80,80,1C,FF
2021-08-13T01:10:07.253Z,1628817007.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:07.253Z,1628817007.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:07.255Z,1628817007.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:07.656Z,1628817007.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:08.061Z,1628817008.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25A,000,00920,189,80,80,55,FF
2021-08-13T01:10:08.061Z,1628817008.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:08.506Z,1628817008.506 [Micromodem](INFO): Nmea in: $SNTTA,0.071461,,,,011008.78*42

2021-08-13T01:10:08.521Z,1628817008.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.660011 m, bearing: 121.845971 deg, deltaT: 4.457340 s, approachRate: 0.578823 m/s, LOS rate: -7.743449 deg/s, posRepo size: 4
2021-08-13T01:10:08.523Z,1628817008.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.660011 m,
      bearing: 121.845971 deg,
      approachRate: 0.578823 m/s,
      LOS rate: -7.743449 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 196.575649 deg,
      new cmd heading: 201.531313 deg.

2021-08-13T01:10:10.968Z,1628817010.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:11.281Z,1628817011.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:11.281Z,1628817011.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:11.281Z,1628817011.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:11.282Z,1628817011.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:11.701Z,1628817011.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25A,000,00920,189,80,80,55,FF
2021-08-13T01:10:11.701Z,1628817011.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:11.701Z,1628817011.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:11.703Z,1628817011.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:12.107Z,1628817012.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:12.502Z,1628817012.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00958,189,80,80,55,FF
2021-08-13T01:10:12.502Z,1628817012.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:12.965Z,1628817012.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011013.23*5D

2021-08-13T01:10:13.027Z,1628817013.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 200.528248 deg, deltaT: 4.435337 s, approachRate: 0.757549 m/s, LOS rate: 17.739864 deg/s, posRepo size: 4
2021-08-13T01:10:13.027Z,1628817013.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.739864 deg/s. Setting heading cmd to target bearing of 200.528248deg and heading rate command to 0 deg/s.
2021-08-13T01:10:15.361Z,1628817015.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:15.745Z,1628817015.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:15.745Z,1628817015.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:15.745Z,1628817015.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:15.746Z,1628817015.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:16.134Z,1628817016.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00958,189,80,80,55,FF
2021-08-13T01:10:16.134Z,1628817016.134 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:16.134Z,1628817016.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:16.136Z,1628817016.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:16.537Z,1628817016.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:16.985Z,1628817016.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,00984,186,80,80,54,FF
2021-08-13T01:10:16.986Z,1628817016.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:17.377Z,1628817017.377 [Micromodem](INFO): Nmea in: $SNTTA,,0.327787,,,011017.66*48

2021-08-13T01:10:17.413Z,1628817017.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.659996 m, bearing: 200.853638 deg, deltaT: 4.517221 s, approachRate: 0.584430 m/s, LOS rate: 0.072033 deg/s, posRepo size: 4
2021-08-13T01:10:17.415Z,1628817017.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.659996 m,
      bearing: 200.853638 deg,
      approachRate: 0.584430 m/s,
      LOS rate: 0.072033 deg/s,
      cmd update: 0.216100 deg/s,
      cmd heading: 200.528248 deg,
      new cmd heading: 200.528248 deg.

2021-08-13T01:10:19.798Z,1628817019.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:20.185Z,1628817020.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:20.185Z,1628817020.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:20.185Z,1628817020.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:20.186Z,1628817020.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:20.589Z,1628817020.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,00984,186,80,80,54,FF
2021-08-13T01:10:20.589Z,1628817020.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:20.589Z,1628817020.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:20.591Z,1628817020.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:21.004Z,1628817021.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:21.393Z,1628817021.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,009B4,186,80,80,75,FF
2021-08-13T01:10:21.393Z,1628817021.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:21.833Z,1628817021.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011022.12*5D

2021-08-13T01:10:21.887Z,1628817021.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 209.220565 deg, deltaT: 4.382367 s, approachRate: 0.657180 m/s, LOS rate: 1.909225 deg/s, posRepo size: 4
2021-08-13T01:10:21.889Z,1628817021.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.540001 m,
      bearing: 209.220565 deg,
      approachRate: 0.657180 m/s,
      LOS rate: 1.909225 deg/s,
      cmd update: 5.727676 deg/s,
      cmd heading: 201.475320 deg,
      new cmd heading: 201.571372 deg.

2021-08-13T01:10:24.247Z,1628817024.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:24.613Z,1628817024.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:24.613Z,1628817024.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:24.613Z,1628817024.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:24.614Z,1628817024.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:25.040Z,1628817025.040 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,009B4,186,80,80,75,FF
2021-08-13T01:10:25.040Z,1628817025.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:25.041Z,1628817025.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:25.042Z,1628817025.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:25.429Z,1628817025.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:25.845Z,1628817025.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,009D7,186,80,80,78,FF
2021-08-13T01:10:25.846Z,1628817025.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:26.265Z,1628817026.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011026.57*58

2021-08-13T01:10:26.287Z,1628817026.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.639999 m, bearing: 205.331742 deg, deltaT: 4.462336 s, approachRate: 0.470605 m/s, LOS rate: -0.871477 deg/s, posRepo size: 4
2021-08-13T01:10:26.290Z,1628817026.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.639999 m,
      bearing: 205.331742 deg,
      approachRate: 0.470605 m/s,
      LOS rate: -0.871477 deg/s,
      cmd update: -2.614431 deg/s,
      cmd heading: 227.009107 deg,
      new cmd heading: 229.224904 deg.

2021-08-13T01:10:28.732Z,1628817028.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:29.062Z,1628817029.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:29.062Z,1628817029.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:29.062Z,1628817029.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:29.063Z,1628817029.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:29.469Z,1628817029.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,009D7,186,80,80,78,FF
2021-08-13T01:10:29.469Z,1628817029.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:29.469Z,1628817029.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:29.471Z,1628817029.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:29.883Z,1628817029.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:30.278Z,1628817030.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,009F0,18A,80,80,AB,FF
2021-08-13T01:10:30.278Z,1628817030.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:30.722Z,1628817030.722 [Micromodem](INFO): Nmea in: $SNTTA,0.076352,,,,011031.00*47

2021-08-13T01:10:30.779Z,1628817030.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.139999 m, bearing: 267.093099 deg, deltaT: 4.390484 s, approachRate: 0.341648 m/s, LOS rate: 14.067096 deg/s, posRepo size: 4
2021-08-13T01:10:30.784Z,1628817030.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.067096 deg/s. Setting heading cmd to target bearing of 267.093099deg and heading rate command to 0 deg/s.
2021-08-13T01:10:33.196Z,1628817033.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:33.509Z,1628817033.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:33.509Z,1628817033.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:33.509Z,1628817033.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:33.510Z,1628817033.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:33.913Z,1628817033.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,009F0,18A,80,80,AB,FF
2021-08-13T01:10:33.913Z,1628817033.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:33.913Z,1628817033.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:33.915Z,1628817033.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:34.317Z,1628817034.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:34.743Z,1628817034.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00A02,188,80,80,40,FF
2021-08-13T01:10:34.744Z,1628817034.744 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:35.133Z,1628817035.133 [Micromodem](INFO): Nmea in: $SNTTA,0.437320,0.437076,,,011035.44*58

2021-08-13T01:10:35.191Z,1628817035.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 201.164029 deg, deltaT: 4.533412 s, approachRate: 0.238232 m/s, LOS rate: -14.542924 deg/s, posRepo size: 4
2021-08-13T01:10:35.196Z,1628817035.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.542924 deg/s. Setting heading cmd to target bearing of 201.164029deg and heading rate command to 0 deg/s.
2021-08-13T01:10:37.566Z,1628817037.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:37.949Z,1628817037.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:37.949Z,1628817037.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:37.949Z,1628817037.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:37.950Z,1628817037.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:38.354Z,1628817038.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00A02,188,80,80,40,FF
2021-08-13T01:10:38.354Z,1628817038.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:38.354Z,1628817038.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:38.355Z,1628817038.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:38.788Z,1628817038.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:39.199Z,1628817039.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,00A16,187,80,80,8C,FF
2021-08-13T01:10:39.199Z,1628817039.199 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:39.618Z,1628817039.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011039.91*5C

2021-08-13T01:10:39.710Z,1628817039.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.420006 m, bearing: 213.028273 deg, deltaT: 4.425452 s, approachRate: 0.271160 m/s, LOS rate: 2.680911 deg/s, posRepo size: 4
2021-08-13T01:10:39.716Z,1628817039.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.420006 m,
      bearing: 213.028273 deg,
      approachRate: 0.271160 m/s,
      LOS rate: 2.680911 deg/s,
      cmd update: 8.042734 deg/s,
      cmd heading: 201.164029 deg,
      new cmd heading: 201.164029 deg.

2021-08-13T01:10:42.033Z,1628817042.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:42.425Z,1628817042.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:42.425Z,1628817042.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:42.425Z,1628817042.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:42.426Z,1628817042.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:42.821Z,1628817042.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,00A16,187,80,80,8C,FF
2021-08-13T01:10:42.821Z,1628817042.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:42.821Z,1628817042.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:42.823Z,1628817042.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:43.225Z,1628817043.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:43.642Z,1628817043.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00A22,186,80,80,A9,FF
2021-08-13T01:10:43.642Z,1628817043.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:44.069Z,1628817044.069 [Micromodem](INFO): Nmea in: $SNTTA,0.151249,,,,011044.35*4C

2021-08-13T01:10:44.099Z,1628817044.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 277.045505 deg, deltaT: 4.459622 s, approachRate: 0.161447 m/s, LOS rate: 14.354857 deg/s, posRepo size: 4
2021-08-13T01:10:44.120Z,1628817044.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.354857 deg/s. Setting heading cmd to target bearing of 277.045505deg and heading rate command to 0 deg/s.
2021-08-13T01:10:46.476Z,1628817046.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:46.858Z,1628817046.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:46.858Z,1628817046.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:46.858Z,1628817046.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:46.859Z,1628817046.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:47.170Z,1628817047.170 [CTD_Seabird](ERROR): Failed to parse device response: 6.37,23.9202,4.816.75
2021-08-13T01:10:47.293Z,1628817047.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00A22,186,80,80,A9,FF
2021-08-13T01:10:47.293Z,1628817047.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:47.293Z,1628817047.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:47.295Z,1628817047.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:47.704Z,1628817047.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:48.073Z,1628817048.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00A2A,185,80,80,8C,FF
2021-08-13T01:10:48.073Z,1628817048.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:48.497Z,1628817048.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011048.82*58

2021-08-13T01:10:48.527Z,1628817048.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 243.020480 deg, deltaT: 4.407737 s, approachRate: 0.108900 m/s, LOS rate: -7.719386 deg/s, posRepo size: 4
2021-08-13T01:10:48.529Z,1628817048.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 243.020480 deg,
      approachRate: 0.108900 m/s,
      LOS rate: -7.719386 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 277.045505 deg,
      new cmd heading: 277.045505 deg.

2021-08-13T01:10:50.992Z,1628817050.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:51.301Z,1628817051.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:51.301Z,1628817051.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:51.301Z,1628817051.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:51.302Z,1628817051.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:51.801Z,1628817051.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00A2A,185,80,80,8C,FF
2021-08-13T01:10:51.801Z,1628817051.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:51.801Z,1628817051.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:51.803Z,1628817051.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:52.249Z,1628817052.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:52.626Z,1628817052.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A3C,188,80,80,9C,FF
2021-08-13T01:10:52.626Z,1628817052.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:53.062Z,1628817053.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011053.33*58

2021-08-13T01:10:53.126Z,1628817053.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 310.594110 deg, deltaT: 4.594246 s, approachRate: 0.235077 m/s, LOS rate: 14.708317 deg/s, posRepo size: 4
2021-08-13T01:10:53.127Z,1628817053.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.708317 deg/s. Setting heading cmd to target bearing of 310.594110deg and heading rate command to 0 deg/s.
2021-08-13T01:10:55.483Z,1628817055.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:10:55.854Z,1628817055.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:10:55.854Z,1628817055.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:10:55.854Z,1628817055.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:10:55.855Z,1628817055.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:10:56.261Z,1628817056.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A3C,188,80,80,9C,FF
2021-08-13T01:10:56.261Z,1628817056.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:10:56.261Z,1628817056.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:10:56.263Z,1628817056.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:10:56.693Z,1628817056.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:10:57.065Z,1628817057.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00A43,187,80,80,BE,FF
2021-08-13T01:10:57.065Z,1628817057.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:10:57.498Z,1628817057.498 [Micromodem](INFO): Nmea in: $SNTTA,0.083057,,,,011057.79*45

2021-08-13T01:10:57.551Z,1628817057.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.120003 m, bearing: 285.017128 deg, deltaT: 4.418496 s, approachRate: 0.095055 m/s, LOS rate: -5.788617 deg/s, posRepo size: 4
2021-08-13T01:10:57.555Z,1628817057.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.120003 m,
      bearing: 285.017128 deg,
      approachRate: 0.095055 m/s,
      LOS rate: -5.788617 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 310.594110 deg,
      new cmd heading: 310.594110 deg.

2021-08-13T01:10:59.950Z,1628817059.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:00.301Z,1628817060.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:00.301Z,1628817060.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:00.301Z,1628817060.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:00.302Z,1628817060.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:00.730Z,1628817060.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00A43,187,80,80,BE,FF
2021-08-13T01:11:00.730Z,1628817060.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:00.730Z,1628817060.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:00.731Z,1628817060.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:01.113Z,1628817061.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:01.509Z,1628817061.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00A46,186,80,80,BF,FF
2021-08-13T01:11:01.510Z,1628817061.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:01.949Z,1628817061.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011102.26*59

2021-08-13T01:11:01.981Z,1628817061.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.300003 m, bearing: 282.210767 deg, deltaT: 4.494545 s, approachRate: 0.040049 m/s, LOS rate: -0.624393 deg/s, posRepo size: 4
2021-08-13T01:11:01.983Z,1628817061.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.300003 m,
      bearing: 282.210767 deg,
      approachRate: 0.040049 m/s,
      LOS rate: -0.624393 deg/s,
      cmd update: -1.873178 deg/s,
      cmd heading: 256.833604 deg,
      new cmd heading: 252.436636 deg.

2021-08-13T01:11:04.382Z,1628817064.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:04.741Z,1628817064.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:04.741Z,1628817064.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:04.741Z,1628817064.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:04.742Z,1628817064.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:05.145Z,1628817065.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00A46,186,80,80,BF,FF
2021-08-13T01:11:05.145Z,1628817065.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:05.145Z,1628817065.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:05.147Z,1628817065.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:05.552Z,1628817065.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:05.966Z,1628817065.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,00A44,188,80,80,78,FF
2021-08-13T01:11:05.966Z,1628817065.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:06.397Z,1628817066.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011106.68*57

2021-08-13T01:11:06.441Z,1628817066.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.180008 m, bearing: 314.199849 deg, deltaT: 4.364417 s, approachRate: -0.027494 m/s, LOS rate: 7.329520 deg/s, posRepo size: 4
2021-08-13T01:11:06.443Z,1628817066.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.180008 m,
      bearing: 314.199849 deg,
      approachRate: -0.027494 m/s,
      LOS rate: 7.329520 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 248.623597 deg,
      new cmd heading: 247.792074 deg.

2021-08-13T01:11:08.830Z,1628817068.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:09.189Z,1628817069.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:09.190Z,1628817069.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:09.190Z,1628817069.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:09.191Z,1628817069.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:09.589Z,1628817069.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,00A44,188,80,80,78,FF
2021-08-13T01:11:09.589Z,1628817069.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:09.590Z,1628817069.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:09.591Z,1628817069.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:10.005Z,1628817070.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:10.413Z,1628817070.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A3C,189,80,80,B8,FF
2021-08-13T01:11:10.414Z,1628817070.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:10.833Z,1628817070.833 [Micromodem](INFO): Nmea in: $SNTTA,0.083237,,,,011111.14*49

2021-08-13T01:11:10.965Z,1628817070.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 331.860669 deg, deltaT: 4.460970 s, approachRate: -0.107601 m/s, LOS rate: 3.958964 deg/s, posRepo size: 4
2021-08-13T01:11:10.967Z,1628817070.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 331.860669 deg,
      approachRate: -0.107601 m/s,
      LOS rate: 3.958964 deg/s,
      cmd update: 11.876893 deg/s,
      cmd heading: 302.106518 deg,
      new cmd heading: 308.183943 deg.

2021-08-13T01:11:13.268Z,1628817073.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:13.633Z,1628817073.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:13.633Z,1628817073.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:13.633Z,1628817073.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:13.635Z,1628817073.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:14.041Z,1628817074.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A3C,189,80,80,B8,FF
2021-08-13T01:11:14.041Z,1628817074.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:14.041Z,1628817074.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:14.043Z,1628817074.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:14.440Z,1628817074.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:14.854Z,1628817074.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D98,000,00A3C,188,80,80,7E,FF
2021-08-13T01:11:14.854Z,1628817074.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:15.286Z,1628817075.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011115.57*59

2021-08-13T01:11:15.355Z,1628817075.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 300.657332 deg, deltaT: 4.517178 s, approachRate: 0.000000 m/s, LOS rate: -6.907706 deg/s, posRepo size: 4
2021-08-13T01:11:15.361Z,1628817075.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 300.657332 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.907706 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.754147 deg,
      new cmd heading: 0.307808 deg.

2021-08-13T01:11:17.735Z,1628817077.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:18.073Z,1628817078.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:18.073Z,1628817078.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:18.073Z,1628817078.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:18.074Z,1628817078.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:18.481Z,1628817078.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D98,000,00A3C,188,80,80,7E,FF
2021-08-13T01:11:18.481Z,1628817078.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:18.481Z,1628817078.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:18.483Z,1628817078.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:18.938Z,1628817078.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:19.289Z,1628817079.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A34,189,80,80,7F,FF
2021-08-13T01:11:19.289Z,1628817079.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:19.737Z,1628817079.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011120.01*5C

2021-08-13T01:11:19.796Z,1628817079.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 351.909815 deg, deltaT: 4.375064 s, approachRate: -0.109713 m/s, LOS rate: 11.714682 deg/s, posRepo size: 4
2021-08-13T01:11:19.797Z,1628817079.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.714682 deg/s. Setting heading cmd to target bearing of 351.909815deg and heading rate command to 0 deg/s.
2021-08-13T01:11:20.956Z,1628817080.956 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T01:11:22.139Z,1628817082.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:22.517Z,1628817082.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:22.517Z,1628817082.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:22.517Z,1628817082.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:22.518Z,1628817082.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:22.969Z,1628817082.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A34,189,80,80,7F,FF
2021-08-13T01:11:22.969Z,1628817082.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:22.969Z,1628817082.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:22.971Z,1628817082.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:23.477Z,1628817083.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:23.877Z,1628817083.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C68,000,00A1F,189,80,80,C4,FF
2021-08-13T01:11:23.878Z,1628817083.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:24.293Z,1628817084.293 [Micromodem](INFO): Nmea in: $SNTTA,0.078355,,,,011124.50*4E

2021-08-13T01:11:24.315Z,1628817084.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.959999 m, bearing: 352.213021 deg, deltaT: 4.582115 s, approachRate: -0.274983 m/s, LOS rate: 0.066172 deg/s, posRepo size: 4
2021-08-13T01:11:24.346Z,1628817084.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.959999 m,
      bearing: 352.213021 deg,
      approachRate: -0.274983 m/s,
      LOS rate: 0.066172 deg/s,
      cmd update: 0.198515 deg/s,
      cmd heading: 351.909815 deg,
      new cmd heading: 351.909815 deg.

2021-08-13T01:11:26.765Z,1628817086.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:27.106Z,1628817087.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:27.106Z,1628817087.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:27.106Z,1628817087.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:27.107Z,1628817087.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:27.513Z,1628817087.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C68,000,00A1F,189,80,80,C4,FF
2021-08-13T01:11:27.513Z,1628817087.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:27.514Z,1628817087.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:27.515Z,1628817087.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:27.925Z,1628817087.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:28.317Z,1628817088.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00A01,188,80,80,91,FF
2021-08-13T01:11:28.317Z,1628817088.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:28.773Z,1628817088.773 [Micromodem](INFO): Nmea in: $SNTTA,0.084978,,,,011129.04*44

2021-08-13T01:11:28.810Z,1628817088.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.160004 m, bearing: 355.510335 deg, deltaT: 4.406664 s, approachRate: -0.408471 m/s, LOS rate: 0.748256 deg/s, posRepo size: 4
2021-08-13T01:11:28.812Z,1628817088.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.160004 m,
      bearing: 355.510335 deg,
      approachRate: -0.408471 m/s,
      LOS rate: 0.748256 deg/s,
      cmd update: 2.244769 deg/s,
      cmd heading: 352.785179 deg,
      new cmd heading: 352.879621 deg.

2021-08-13T01:11:31.206Z,1628817091.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:31.545Z,1628817091.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:31.545Z,1628817091.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:31.545Z,1628817091.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:31.546Z,1628817091.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:31.953Z,1628817091.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00A01,188,80,80,91,FF
2021-08-13T01:11:31.953Z,1628817091.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:31.953Z,1628817091.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:31.955Z,1628817091.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:32.366Z,1628817092.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:32.781Z,1628817092.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,009D9,187,80,80,92,FF
2021-08-13T01:11:32.781Z,1628817092.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:33.198Z,1628817093.198 [Micromodem](INFO): Nmea in: $SNTTA,0.084172,,,,011133.48*45

2021-08-13T01:11:33.234Z,1628817093.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.760002 m, bearing: 1.777648 deg, deltaT: 4.468618 s, approachRate: -0.537079 m/s, LOS rate: 1.402518 deg/s, posRepo size: 4
2021-08-13T01:11:33.236Z,1628817093.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 1.777648 deg,
      approachRate: -0.537079 m/s,
      LOS rate: 1.402518 deg/s,
      cmd update: 4.207554 deg/s,
      cmd heading: 2.827213 deg,
      new cmd heading: 3.781911 deg.

2021-08-13T01:11:35.603Z,1628817095.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:35.993Z,1628817095.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:35.993Z,1628817095.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:35.993Z,1628817095.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:35.994Z,1628817095.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:36.393Z,1628817096.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,009D9,187,80,80,92,FF
2021-08-13T01:11:36.393Z,1628817096.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:36.393Z,1628817096.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:36.395Z,1628817096.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:36.810Z,1628817096.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:37.205Z,1628817097.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,009B1,186,80,80,B0,FF
2021-08-13T01:11:37.205Z,1628817097.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:37.665Z,1628817097.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011137.92*50

2021-08-13T01:11:37.713Z,1628817097.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 357.844293 deg, deltaT: 4.505428 s, approachRate: -0.532691 m/s, LOS rate: -0.873027 deg/s, posRepo size: 4
2021-08-13T01:11:37.715Z,1628817097.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 357.844293 deg,
      approachRate: -0.532691 m/s,
      LOS rate: -0.873027 deg/s,
      cmd update: -2.619080 deg/s,
      cmd heading: 21.749320 deg,
      new cmd heading: 23.464601 deg.

2021-08-13T01:11:40.068Z,1628817100.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:40.433Z,1628817100.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:40.433Z,1628817100.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:40.433Z,1628817100.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:40.434Z,1628817100.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:40.837Z,1628817100.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,009B1,186,80,80,B0,FF
2021-08-13T01:11:40.837Z,1628817100.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:40.837Z,1628817100.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:40.839Z,1628817100.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:41.249Z,1628817101.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:41.653Z,1628817101.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,00986,189,80,80,95,FF
2021-08-13T01:11:41.655Z,1628817101.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:42.094Z,1628817102.094 [Micromodem](INFO): Nmea in: $SNTTA,0.080629,,,,011142.36*47

2021-08-13T01:11:42.123Z,1628817102.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 348.884260 deg, deltaT: 4.398250 s, approachRate: -0.586596 m/s, LOS rate: -2.037181 deg/s, posRepo size: 4
2021-08-13T01:11:42.126Z,1628817102.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 348.884260 deg,
      approachRate: -0.586596 m/s,
      LOS rate: -2.037181 deg/s,
      cmd update: -6.111544 deg/s,
      cmd heading: 10.229195 deg,
      new cmd heading: 9.129032 deg.

2021-08-13T01:11:44.498Z,1628817104.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:44.894Z,1628817104.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:44.895Z,1628817104.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:44.895Z,1628817104.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:44.901Z,1628817104.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:45.281Z,1628817105.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,00986,189,80,80,95,FF
2021-08-13T01:11:45.282Z,1628817105.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:45.282Z,1628817105.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:45.283Z,1628817105.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:45.705Z,1628817105.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:46.085Z,1628817106.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,00960,18A,80,80,83,FF
2021-08-13T01:11:46.086Z,1628817106.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:46.549Z,1628817106.549 [Micromodem](INFO): Nmea in: $SNTTA,0.078189,,,,011146.81*45

2021-08-13T01:11:46.589Z,1628817106.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 353.279514 deg, deltaT: 4.425401 s, approachRate: -0.515209 m/s, LOS rate: 0.993188 deg/s, posRepo size: 4
2021-08-13T01:11:46.591Z,1628817106.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.500000 m,
      bearing: 353.279514 deg,
      approachRate: -0.515209 m/s,
      LOS rate: 0.993188 deg/s,
      cmd update: 2.979563 deg/s,
      cmd heading: 343.209344 deg,
      new cmd heading: 340.371876 deg.

2021-08-13T01:11:49.040Z,1628817109.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:49.337Z,1628817109.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:49.337Z,1628817109.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:49.337Z,1628817109.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:49.338Z,1628817109.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:49.741Z,1628817109.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,00960,18A,80,80,83,FF
2021-08-13T01:11:49.741Z,1628817109.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:49.741Z,1628817109.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:49.743Z,1628817109.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:50.149Z,1628817110.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:50.556Z,1628817110.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,00934,185,80,80,B0,FF
2021-08-13T01:11:50.557Z,1628817110.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:50.997Z,1628817110.997 [Micromodem](INFO): Nmea in: $SNTTA,0.077512,,,,011151.27*46

2021-08-13T01:11:51.055Z,1628817111.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.860008 m, bearing: 358.072039 deg, deltaT: 4.435832 s, approachRate: -0.595151 m/s, LOS rate: 1.080412 deg/s, posRepo size: 4
2021-08-13T01:11:51.058Z,1628817111.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.860008 m,
      bearing: 358.072039 deg,
      approachRate: -0.595151 m/s,
      LOS rate: 1.080412 deg/s,
      cmd update: 3.241236 deg/s,
      cmd heading: 356.462921 deg,
      new cmd heading: 357.900862 deg.

2021-08-13T01:11:53.387Z,1628817113.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:53.773Z,1628817113.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:53.773Z,1628817113.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:53.773Z,1628817113.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:53.774Z,1628817113.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:54.181Z,1628817114.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B4,000,00934,185,80,80,B0,FF
2021-08-13T01:11:54.182Z,1628817114.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:54.182Z,1628817114.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:54.183Z,1628817114.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:54.597Z,1628817114.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:11:55.000Z,1628817115.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00903,184,80,80,AC,FF
2021-08-13T01:11:55.002Z,1628817115.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:11:55.033Z,1628817115.033 [Micromodem](INFO): Nmea in: $SNTTA,0.099591,0.304027,,,011155.71*56

2021-08-13T01:11:55.423Z,1628817115.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 357.031009 deg, deltaT: 4.515308 s, approachRate: -0.651119 m/s, LOS rate: -0.230556 deg/s, posRepo size: 4
2021-08-13T01:11:55.442Z,1628817115.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.920006 m,
      bearing: 357.031009 deg,
      approachRate: -0.651119 m/s,
      LOS rate: -0.230556 deg/s,
      cmd update: -0.691667 deg/s,
      cmd heading: 11.098280 deg,
      new cmd heading: 12.185474 deg.

2021-08-13T01:11:57.517Z,1628817117.517 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-13T01:11:57.517Z,1628817117.517 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T01:11:57.517Z,1628817117.517 [ThrusterServo](ERROR): Communications Fault
2021-08-13T01:11:57.521Z,1628817117.521 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T01:11:57.893Z,1628817117.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:11:57.985Z,1628817117.985 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T01:11:57.985Z,1628817117.985 [ThrusterServo](INFO): Powering down
2021-08-13T01:11:58.217Z,1628817118.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:11:58.217Z,1628817118.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:11:58.217Z,1628817118.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:11:58.218Z,1628817118.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:11:58.629Z,1628817118.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00903,184,80,80,AC,FF
2021-08-13T01:11:58.629Z,1628817118.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:11:58.629Z,1628817118.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:11:58.631Z,1628817118.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:11:58.795Z,1628817118.795 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T01:11:58.915Z,1628817118.915 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T01:11:58.925Z,1628817118.925 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T01:11:58.926Z,1628817118.926 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T01:11:59.059Z,1628817119.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:00.706Z,1628817120.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:02.261Z,1628817122.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,184,80,80,AC,FF
2021-08-13T01:12:02.261Z,1628817122.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,184,80,80,AC,FF
2021-08-13T01:12:02.261Z,1628817122.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:12:03.516Z,1628817123.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:03.885Z,1628817123.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:03.885Z,1628817123.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:03.885Z,1628817123.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:03.886Z,1628817123.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:04.296Z,1628817124.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,184,80,80,AC,FF
2021-08-13T01:12:04.296Z,1628817124.296 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:04.297Z,1628817124.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:04.298Z,1628817124.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:04.708Z,1628817124.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:05.099Z,1628817125.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,008B3,18A,80,80,51,FF
2021-08-13T01:12:05.099Z,1628817125.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:05.517Z,1628817125.517 [Micromodem](INFO): Nmea in: $SNTTA,,0.245145,,,011205.82*4E

2021-08-13T01:12:05.553Z,1628817125.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.120003 m, bearing: 48.257937 deg, deltaT: 10.086169 s, approachRate: -0.475900 m/s, LOS rate: 5.078928 deg/s, posRepo size: 4
2021-08-13T01:12:05.555Z,1628817125.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 48.257937 deg,
      approachRate: -0.475900 m/s,
      LOS rate: 5.078928 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.124615 deg,
      new cmd heading: 3.860315 deg.

2021-08-13T01:12:07.965Z,1628817127.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:08.334Z,1628817128.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:08.334Z,1628817128.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:08.334Z,1628817128.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:08.335Z,1628817128.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:08.753Z,1628817128.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,008B3,18A,80,80,51,FF
2021-08-13T01:12:08.753Z,1628817128.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:08.754Z,1628817128.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:08.755Z,1628817128.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:09.151Z,1628817129.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:09.541Z,1628817129.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00890,186,80,80,85,FF
2021-08-13T01:12:09.541Z,1628817129.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:09.959Z,1628817129.959 [Micromodem](INFO): Nmea in: $SNTTA,0.081168,,,,011210.28*4F

2021-08-13T01:12:10.007Z,1628817130.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 349.445838 deg, deltaT: 4.408486 s, approachRate: -0.476355 m/s, LOS rate: -13.340657 deg/s, posRepo size: 4
2021-08-13T01:12:10.007Z,1628817130.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.340657 deg/s. Setting heading cmd to target bearing of 349.445838deg and heading rate command to 0 deg/s.
2021-08-13T01:12:12.402Z,1628817132.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:12.765Z,1628817132.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:12.765Z,1628817132.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:12.765Z,1628817132.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:12.766Z,1628817132.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:13.165Z,1628817133.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00890,186,80,80,85,FF
2021-08-13T01:12:13.165Z,1628817133.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:13.165Z,1628817133.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:13.167Z,1628817133.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:13.586Z,1628817133.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:13.973Z,1628817133.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,0086F,189,80,80,B0,FF
2021-08-13T01:12:13.973Z,1628817133.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:14.422Z,1628817134.422 [Micromodem](INFO): Nmea in: $SNTTA,0.071796,,,,011214.70*4E

2021-08-13T01:12:14.438Z,1628817134.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 342.830226 deg, deltaT: 4.477493 s, approachRate: -0.442211 m/s, LOS rate: -1.477526 deg/s, posRepo size: 4
2021-08-13T01:12:14.440Z,1628817134.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 342.830226 deg,
      approachRate: -0.442211 m/s,
      LOS rate: -1.477526 deg/s,
      cmd update: -4.432578 deg/s,
      cmd heading: 349.445838 deg,
      new cmd heading: 349.445838 deg.

2021-08-13T01:12:16.826Z,1628817136.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:17.213Z,1628817137.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:17.213Z,1628817137.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:17.213Z,1628817137.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:17.214Z,1628817137.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:17.621Z,1628817137.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,0086F,189,80,80,B0,FF
2021-08-13T01:12:17.621Z,1628817137.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:17.621Z,1628817137.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:17.623Z,1628817137.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:18.027Z,1628817138.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:18.425Z,1628817138.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40A,000,00842,189,80,80,AA,FF
2021-08-13T01:12:18.425Z,1628817138.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:18.866Z,1628817138.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011219.15*50

2021-08-13T01:12:18.961Z,1628817138.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 343.683808 deg, deltaT: 4.413692 s, approachRate: -0.611732 m/s, LOS rate: 0.193394 deg/s, posRepo size: 4
2021-08-13T01:12:18.963Z,1628817138.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.340004 m,
      bearing: 343.683808 deg,
      approachRate: -0.611732 m/s,
      LOS rate: 0.193394 deg/s,
      cmd update: 0.580183 deg/s,
      cmd heading: 329.830760 deg,
      new cmd heading: 327.673442 deg.

2021-08-13T01:12:21.293Z,1628817141.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:21.653Z,1628817141.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:21.653Z,1628817141.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:21.653Z,1628817141.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:21.654Z,1628817141.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:22.053Z,1628817142.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40A,000,00842,189,80,80,AA,FF
2021-08-13T01:12:22.053Z,1628817142.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:22.054Z,1628817142.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:22.055Z,1628817142.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:22.476Z,1628817142.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:22.865Z,1628817142.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00827,189,80,80,A7,FF
2021-08-13T01:12:22.865Z,1628817142.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:23.305Z,1628817143.305 [Micromodem](INFO): Nmea in: $SNTTA,0.058235,,,,011223.58*47

2021-08-13T01:12:23.351Z,1628817143.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.720001 m, bearing: 345.269204 deg, deltaT: 4.527083 s, approachRate: -0.357847 m/s, LOS rate: 0.350203 deg/s, posRepo size: 4
2021-08-13T01:12:23.354Z,1628817143.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.720001 m,
      bearing: 345.269204 deg,
      approachRate: -0.357847 m/s,
      LOS rate: 0.350203 deg/s,
      cmd update: 1.050608 deg/s,
      cmd heading: 332.447920 deg,
      new cmd heading: 332.660197 deg.

2021-08-13T01:12:25.742Z,1628817145.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:26.093Z,1628817146.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:26.093Z,1628817146.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:26.093Z,1628817146.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:26.094Z,1628817146.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:26.501Z,1628817146.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00827,189,80,80,A7,FF
2021-08-13T01:12:26.502Z,1628817146.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:26.502Z,1628817146.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:26.504Z,1628817146.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:26.951Z,1628817146.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:27.324Z,1628817147.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,007FE,185,80,80,A8,FF
2021-08-13T01:12:27.324Z,1628817147.324 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:27.763Z,1628817147.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011228.03*55

2021-08-13T01:12:27.789Z,1628817147.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 350.415943 deg, deltaT: 4.361579 s, approachRate: -0.564016 m/s, LOS rate: 1.180017 deg/s, posRepo size: 4
2021-08-13T01:12:27.791Z,1628817147.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.260002 m,
      bearing: 350.415943 deg,
      approachRate: -0.564016 m/s,
      LOS rate: 1.180017 deg/s,
      cmd update: 3.540052 deg/s,
      cmd heading: 337.042897 deg,
      new cmd heading: 337.494719 deg.

2021-08-13T01:12:30.151Z,1628817150.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:30.534Z,1628817150.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:30.534Z,1628817150.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:30.535Z,1628817150.535 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:30.536Z,1628817150.536 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:30.989Z,1628817150.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,007FE,185,80,80,A8,FF
2021-08-13T01:12:30.989Z,1628817150.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:30.989Z,1628817150.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:30.991Z,1628817150.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:31.380Z,1628817151.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:31.773Z,1628817151.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,007D1,183,80,80,A8,FF
2021-08-13T01:12:31.773Z,1628817151.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:32.205Z,1628817152.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011232.52*5A

2021-08-13T01:12:32.248Z,1628817152.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.560005 m, bearing: 353.244707 deg, deltaT: 4.457317 s, approachRate: -0.605745 m/s, LOS rate: 0.634634 deg/s, posRepo size: 4
2021-08-13T01:12:32.250Z,1628817152.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 353.244707 deg,
      approachRate: -0.605745 m/s,
      LOS rate: 0.634634 deg/s,
      cmd update: 1.903901 deg/s,
      cmd heading: 352.765599 deg,
      new cmd heading: 354.336412 deg.

2021-08-13T01:12:34.619Z,1628817154.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:35.013Z,1628817155.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:35.013Z,1628817155.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:35.013Z,1628817155.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:35.014Z,1628817155.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:35.413Z,1628817155.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,007D1,183,80,80,A8,FF
2021-08-13T01:12:35.414Z,1628817155.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:35.414Z,1628817155.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:35.415Z,1628817155.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:35.817Z,1628817155.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:36.213Z,1628817156.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,007A3,184,80,80,A5,FF
2021-08-13T01:12:36.214Z,1628817156.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:36.650Z,1628817156.650 [Micromodem](INFO): Nmea in: $SNTTA,0.059605,,,,011236.94*45

2021-08-13T01:12:36.710Z,1628817156.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.799995 m, bearing: 350.332970 deg, deltaT: 4.415409 s, approachRate: -0.625086 m/s, LOS rate: -0.659449 deg/s, posRepo size: 4
2021-08-13T01:12:36.720Z,1628817156.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.799995 m,
      bearing: 350.332970 deg,
      approachRate: -0.625086 m/s,
      LOS rate: -0.659449 deg/s,
      cmd update: -1.978347 deg/s,
      cmd heading: 1.210194 deg,
      new cmd heading: 2.113822 deg.

2021-08-13T01:12:39.117Z,1628817159.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:39.466Z,1628817159.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:39.466Z,1628817159.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:39.466Z,1628817159.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:39.467Z,1628817159.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:39.854Z,1628817159.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,007A3,184,80,80,A5,FF
2021-08-13T01:12:39.854Z,1628817159.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:39.855Z,1628817159.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:39.858Z,1628817159.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:40.268Z,1628817160.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:40.698Z,1628817160.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,196,000,00776,186,80,80,A9,FF
2021-08-13T01:12:40.699Z,1628817160.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:41.106Z,1628817161.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011241.38*52

2021-08-13T01:12:41.141Z,1628817161.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.099998 m, bearing: 344.040126 deg, deltaT: 4.526911 s, approachRate: -0.596433 m/s, LOS rate: -1.390097 deg/s, posRepo size: 4
2021-08-13T01:12:41.143Z,1628817161.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.099998 m,
      bearing: 344.040126 deg,
      approachRate: -0.596433 m/s,
      LOS rate: -1.390097 deg/s,
      cmd update: -4.170291 deg/s,
      cmd heading: 352.262360 deg,
      new cmd heading: 351.505196 deg.

2021-08-13T01:12:43.511Z,1628817163.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:43.909Z,1628817163.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:43.910Z,1628817163.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:43.910Z,1628817163.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:43.911Z,1628817163.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:44.297Z,1628817164.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
196,000,00776,186,80,80,A9,FF
2021-08-13T01:12:44.297Z,1628817164.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:44.297Z,1628817164.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:44.299Z,1628817164.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:44.813Z,1628817164.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:45.113Z,1628817165.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00747,186,80,80,9B,FF
2021-08-13T01:12:45.113Z,1628817165.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:45.546Z,1628817165.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011245.82*57

2021-08-13T01:12:45.561Z,1628817165.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 347.921066 deg, deltaT: 4.422920 s, approachRate: -0.637588 m/s, LOS rate: 0.877461 deg/s, posRepo size: 4
2021-08-13T01:12:45.563Z,1628817165.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 347.921066 deg,
      approachRate: -0.637588 m/s,
      LOS rate: 0.877461 deg/s,
      cmd update: 2.632384 deg/s,
      cmd heading: 333.867267 deg,
      new cmd heading: 332.231945 deg.

2021-08-13T01:12:47.973Z,1628817167.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:48.333Z,1628817168.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:48.333Z,1628817168.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:48.333Z,1628817168.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:48.334Z,1628817168.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:48.753Z,1628817168.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00747,186,80,80,9B,FF
2021-08-13T01:12:48.753Z,1628817168.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:48.753Z,1628817168.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:48.755Z,1628817168.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:49.161Z,1628817169.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:49.562Z,1628817169.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00718,186,80,80,BF,FF
2021-08-13T01:12:49.562Z,1628817169.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:50.009Z,1628817170.009 [Micromodem](INFO): Nmea in: $SNTTA,0.051002,,,,011250.28*4B

2021-08-13T01:12:50.046Z,1628817170.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 351.768348 deg, deltaT: 4.393529 s, approachRate: -0.641851 m/s, LOS rate: 0.875670 deg/s, posRepo size: 4
2021-08-13T01:12:50.049Z,1628817170.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.460007 m,
      bearing: 351.768348 deg,
      approachRate: -0.641851 m/s,
      LOS rate: 0.875670 deg/s,
      cmd update: 2.627010 deg/s,
      cmd heading: 345.474731 deg,
      new cmd heading: 346.704831 deg.

2021-08-13T01:12:52.015Z,1628817172.015 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 7
2021-08-13T01:12:52.410Z,1628817172.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:52.797Z,1628817172.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:52.797Z,1628817172.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:52.797Z,1628817172.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:52.798Z,1628817172.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:53.201Z,1628817173.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00718,186,80,80,BF,FF
2021-08-13T01:12:53.201Z,1628817173.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:53.201Z,1628817173.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:53.203Z,1628817173.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:53.614Z,1628817173.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:54.021Z,1628817174.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,006EA,185,80,80,93,FF
2021-08-13T01:12:54.021Z,1628817174.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:54.453Z,1628817174.453 [Micromodem](INFO): Nmea in: $SNTTA,0.075574,,,,011254.73*43

2021-08-13T01:12:54.475Z,1628817174.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 350.734203 deg, deltaT: 4.469051 s, approachRate: -0.617583 m/s, LOS rate: -0.231402 deg/s, posRepo size: 4
2021-08-13T01:12:54.478Z,1628817174.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.699997 m,
      bearing: 350.734203 deg,
      approachRate: -0.617583 m/s,
      LOS rate: -0.231402 deg/s,
      cmd update: -0.694205 deg/s,
      cmd heading: 357.214829 deg,
      new cmd heading: 358.338327 deg.

2021-08-13T01:12:56.919Z,1628817176.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:12:57.253Z,1628817177.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:12:57.253Z,1628817177.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:12:57.253Z,1628817177.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:12:57.254Z,1628817177.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:12:57.645Z,1628817177.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,006EA,185,80,80,93,FF
2021-08-13T01:12:57.645Z,1628817177.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:12:57.645Z,1628817177.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:12:57.647Z,1628817177.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:12:58.061Z,1628817178.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:12:58.458Z,1628817178.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,006BA,185,80,80,91,FF
2021-08-13T01:12:58.458Z,1628817178.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:12:58.928Z,1628817178.928 [Micromodem](INFO): Nmea in: $SNTTA,0.098710,,,,011259.17*4F

2021-08-13T01:12:58.997Z,1628817178.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 344.498486 deg, deltaT: 4.426632 s, approachRate: -0.650607 m/s, LOS rate: -1.408682 deg/s, posRepo size: 4
2021-08-13T01:12:58.999Z,1628817178.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.820000 m,
      bearing: 344.498486 deg,
      approachRate: -0.650607 m/s,
      LOS rate: -1.408682 deg/s,
      cmd update: -4.226046 deg/s,
      cmd heading: 354.141766 deg,
      new cmd heading: 353.779182 deg.

2021-08-13T01:13:01.334Z,1628817181.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:01.708Z,1628817181.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:01.708Z,1628817181.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:01.709Z,1628817181.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:01.710Z,1628817181.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:02.097Z,1628817182.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,006BA,185,80,80,91,FF
2021-08-13T01:13:02.097Z,1628817182.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:02.097Z,1628817182.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:02.099Z,1628817182.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:02.505Z,1628817182.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:02.937Z,1628817182.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00689,186,80,80,A1,FF
2021-08-13T01:13:02.938Z,1628817182.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:03.341Z,1628817183.341 [Micromodem](INFO): Nmea in: $SNTTA,0.041801,,,,011303.63*49

2021-08-13T01:13:03.365Z,1628817183.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 344.632030 deg, deltaT: 4.565805 s, approachRate: -0.643918 m/s, LOS rate: 0.029249 deg/s, posRepo size: 4
2021-08-13T01:13:03.367Z,1628817183.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 344.632030 deg,
      approachRate: -0.643918 m/s,
      LOS rate: 0.029249 deg/s,
      cmd update: 0.087746 deg/s,
      cmd heading: 334.863318 deg,
      new cmd heading: 333.477547 deg.

2021-08-13T01:13:05.782Z,1628817185.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:06.165Z,1628817186.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:06.165Z,1628817186.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:06.165Z,1628817186.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:06.166Z,1628817186.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:06.553Z,1628817186.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00689,186,80,80,A1,FF
2021-08-13T01:13:06.553Z,1628817186.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:06.553Z,1628817186.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:06.555Z,1628817186.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:06.992Z,1628817186.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:07.360Z,1628817187.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0065E,184,80,80,A1,FF
2021-08-13T01:13:07.361Z,1628817187.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:07.789Z,1628817187.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011308.08*5D

2021-08-13T01:13:07.835Z,1628817187.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 351.039485 deg, deltaT: 4.342588 s, approachRate: -0.594114 m/s, LOS rate: 1.475492 deg/s, posRepo size: 4
2021-08-13T01:13:07.842Z,1628817187.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.300003 m,
      bearing: 351.039485 deg,
      approachRate: -0.594114 m/s,
      LOS rate: 1.475492 deg/s,
      cmd update: 4.426477 deg/s,
      cmd heading: 335.244707 deg,
      new cmd heading: 335.284367 deg.

2021-08-13T01:13:10.220Z,1628817190.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:10.589Z,1628817190.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:10.589Z,1628817190.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:10.589Z,1628817190.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:10.590Z,1628817190.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:11.001Z,1628817191.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0065E,184,80,80,A1,FF
2021-08-13T01:13:11.001Z,1628817191.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:11.001Z,1628817191.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:11.003Z,1628817191.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:11.411Z,1628817191.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:11.828Z,1628817191.828 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,0062F,187,80,80,A2,FF
2021-08-13T01:13:11.829Z,1628817191.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:12.249Z,1628817192.249 [Micromodem](INFO): Nmea in: $SNTTA,0.238407,,,,011312.53*4C

2021-08-13T01:13:12.272Z,1628817192.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 348.955430 deg, deltaT: 4.505908 s, approachRate: -0.625844 m/s, LOS rate: -0.462516 deg/s, posRepo size: 4
2021-08-13T01:13:12.274Z,1628817192.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.480007 m,
      bearing: 348.955430 deg,
      approachRate: -0.625844 m/s,
      LOS rate: -0.462516 deg/s,
      cmd update: -1.387548 deg/s,
      cmd heading: 355.080859 deg,
      new cmd heading: 356.884564 deg.

2021-08-13T01:13:14.650Z,1628817194.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:15.041Z,1628817195.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:15.041Z,1628817195.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:15.042Z,1628817195.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:15.042Z,1628817195.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:15.441Z,1628817195.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,0062F,187,80,80,A2,FF
2021-08-13T01:13:15.441Z,1628817195.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:15.441Z,1628817195.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:15.443Z,1628817195.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:15.883Z,1628817195.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:16.249Z,1628817196.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,00604,186,80,80,95,FF
2021-08-13T01:13:16.249Z,1628817196.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:16.713Z,1628817196.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011316.97*54

2021-08-13T01:13:16.746Z,1628817196.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 345.479875 deg, deltaT: 4.429883 s, approachRate: -0.582409 m/s, LOS rate: -0.784570 deg/s, posRepo size: 4
2021-08-13T01:13:16.749Z,1628817196.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.900002 m,
      bearing: 345.479875 deg,
      approachRate: -0.582409 m/s,
      LOS rate: -0.784570 deg/s,
      cmd update: -2.353711 deg/s,
      cmd heading: 348.899899 deg,
      new cmd heading: 348.306523 deg.

2021-08-13T01:13:19.146Z,1628817199.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:19.473Z,1628817199.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:19.474Z,1628817199.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:19.474Z,1628817199.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:19.475Z,1628817199.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:19.894Z,1628817199.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,00604,186,80,80,95,FF
2021-08-13T01:13:19.895Z,1628817199.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:19.895Z,1628817199.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:19.898Z,1628817199.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:20.299Z,1628817200.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:20.717Z,1628817200.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,005D2,186,80,80,8E,FF
2021-08-13T01:13:20.718Z,1628817200.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:21.130Z,1628817201.130 [Micromodem](INFO): Nmea in: $SNTTA,0.034512,,,,011321.42*47

2021-08-13T01:13:21.165Z,1628817201.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 343.536823 deg, deltaT: 4.463427 s, approachRate: -0.672131 m/s, LOS rate: -0.435327 deg/s, posRepo size: 4
2021-08-13T01:13:21.167Z,1628817201.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.899994 m,
      bearing: 343.536823 deg,
      approachRate: -0.672131 m/s,
      LOS rate: -0.435327 deg/s,
      cmd update: -1.305982 deg/s,
      cmd heading: 338.403707 deg,
      new cmd heading: 337.493352 deg.

2021-08-13T01:13:23.555Z,1628817203.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:23.925Z,1628817203.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:23.925Z,1628817203.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:23.925Z,1628817203.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:23.926Z,1628817203.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:24.325Z,1628817204.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,005D2,186,80,80,8E,FF
2021-08-13T01:13:24.325Z,1628817204.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:24.325Z,1628817204.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:24.327Z,1628817204.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:24.752Z,1628817204.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:25.137Z,1628817205.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,005A4,184,80,80,8C,FF
2021-08-13T01:13:25.137Z,1628817205.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:25.586Z,1628817205.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011325.85*57

2021-08-13T01:13:25.616Z,1628817205.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 348.526658 deg, deltaT: 4.428327 s, approachRate: -0.623258 m/s, LOS rate: 1.126799 deg/s, posRepo size: 4
2021-08-13T01:13:25.620Z,1628817205.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 348.526658 deg,
      approachRate: -0.623258 m/s,
      LOS rate: 1.126799 deg/s,
      cmd update: 3.380398 deg/s,
      cmd heading: 332.620445 deg,
      new cmd heading: 332.086688 deg.

2021-08-13T01:13:28.007Z,1628817208.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:28.365Z,1628817208.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:28.365Z,1628817208.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:28.365Z,1628817208.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:28.366Z,1628817208.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:28.769Z,1628817208.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,005A4,184,80,80,8C,FF
2021-08-13T01:13:28.769Z,1628817208.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:28.769Z,1628817208.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:28.771Z,1628817208.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:29.181Z,1628817209.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:29.577Z,1628817209.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,00573,187,80,80,AD,FF
2021-08-13T01:13:29.577Z,1628817209.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:30.026Z,1628817210.026 [Micromodem](INFO): Nmea in: $SNTTA,0.042786,,,,011330.30*4C

2021-08-13T01:13:30.055Z,1628817210.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 347.118464 deg, deltaT: 4.383923 s, approachRate: -0.670634 m/s, LOS rate: -0.321218 deg/s, posRepo size: 4
2021-08-13T01:13:30.058Z,1628817210.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 347.118464 deg,
      approachRate: -0.670634 m/s,
      LOS rate: -0.321218 deg/s,
      cmd update: -0.963653 deg/s,
      cmd heading: 347.453596 deg,
      new cmd heading: 349.011912 deg.

2021-08-13T01:13:32.471Z,1628817212.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:32.813Z,1628817212.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:32.813Z,1628817212.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:32.814Z,1628817212.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:32.815Z,1628817212.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:33.213Z,1628817213.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,00573,187,80,80,AD,FF
2021-08-13T01:13:33.213Z,1628817213.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:33.213Z,1628817213.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:33.215Z,1628817213.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:33.621Z,1628817213.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:34.030Z,1628817214.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00544,186,80,80,BD,FF
2021-08-13T01:13:34.031Z,1628817214.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:34.465Z,1628817214.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011334.74*59

2021-08-13T01:13:34.488Z,1628817214.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 344.142879 deg, deltaT: 4.463336 s, approachRate: -0.631813 m/s, LOS rate: -0.666673 deg/s, posRepo size: 4
2021-08-13T01:13:34.490Z,1628817214.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 344.142879 deg,
      approachRate: -0.631813 m/s,
      LOS rate: -0.666673 deg/s,
      cmd update: -2.000019 deg/s,
      cmd heading: 343.152571 deg,
      new cmd heading: 342.738292 deg.

2021-08-13T01:13:36.955Z,1628817216.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:37.253Z,1628817217.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:37.253Z,1628817217.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:37.253Z,1628817217.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:37.254Z,1628817217.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:37.687Z,1628817217.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00544,186,80,80,BD,FF
2021-08-13T01:13:37.687Z,1628817217.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:37.688Z,1628817217.688 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:37.694Z,1628817217.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:38.070Z,1628817218.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:38.473Z,1628817218.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0051A,184,80,80,85,FF
2021-08-13T01:13:38.474Z,1628817218.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:38.896Z,1628817218.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011339.22*57

2021-08-13T01:13:38.991Z,1628817218.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 347.321977 deg, deltaT: 4.437683 s, approachRate: -0.567865 m/s, LOS rate: 0.716387 deg/s, posRepo size: 4
2021-08-13T01:13:38.997Z,1628817218.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 347.321977 deg,
      approachRate: -0.567865 m/s,
      LOS rate: 0.716387 deg/s,
      cmd update: 2.149161 deg/s,
      cmd heading: 334.276995 deg,
      new cmd heading: 333.286035 deg.

2021-08-13T01:13:41.342Z,1628817221.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:41.729Z,1628817221.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:41.729Z,1628817221.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:41.729Z,1628817221.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:41.730Z,1628817221.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:42.101Z,1628817222.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0051A,184,80,80,85,FF
2021-08-13T01:13:42.101Z,1628817222.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:42.101Z,1628817222.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:42.103Z,1628817222.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:42.513Z,1628817222.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:42.949Z,1628817222.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,004E5,185,80,80,96,FF
2021-08-13T01:13:42.949Z,1628817222.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:43.357Z,1628817223.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011343.63*5F

2021-08-13T01:13:43.385Z,1628817223.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 347.536937 deg, deltaT: 4.545513 s, approachRate: -0.699590 m/s, LOS rate: 0.047291 deg/s, posRepo size: 4
2021-08-13T01:13:43.385Z,1628817223.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.68 m.
2021-08-13T01:13:43.387Z,1628817223.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.680000 m,
      bearing: 347.536937 deg,
      approachRate: -0.699590 m/s,
      LOS rate: 0.047291 deg/s,
      cmd update: 0.141872 deg/s,
      cmd heading: 344.011190 deg,
      new cmd heading: 344.784611 deg.

2021-08-13T01:13:43.783Z,1628817223.783 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:13:43.825Z,1628817223.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:13:43.825Z,1628817223.825 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:13:43.826Z,1628817223.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:13:43.826Z,1628817223.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:13:43.826Z,1628817223.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:13:43.826Z,1628817223.826 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:13:44.185Z,1628817224.185 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:13:44.185Z,1628817224.185 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:13:44.186Z,1628817224.186 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:13:44.186Z,1628817224.186 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:13:45.790Z,1628817225.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:46.137Z,1628817226.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:46.137Z,1628817226.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:46.138Z,1628817226.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:46.138Z,1628817226.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:46.549Z,1628817226.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,004E5,185,80,80,96,FF
2021-08-13T01:13:46.549Z,1628817226.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:46.550Z,1628817226.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:46.551Z,1628817226.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:47.080Z,1628817227.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:47.361Z,1628817227.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,004B6,184,80,80,98,FF
2021-08-13T01:13:47.361Z,1628817227.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:47.448Z,1628817227.448 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:13:47.797Z,1628817227.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011348.08*59

2021-08-13T01:13:47.835Z,1628817227.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 345.180057 deg, deltaT: 4.404367 s, approachRate: -0.640274 m/s, LOS rate: -0.535123 deg/s, posRepo size: 4
2021-08-13T01:13:47.836Z,1628817227.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.86 m.
2021-08-13T01:13:47.838Z,1628817227.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.859997 m,
      bearing: 345.180057 deg,
      approachRate: -0.640274 m/s,
      LOS rate: -0.535123 deg/s,
      cmd update: -1.605370 deg/s,
      cmd heading: 344.637053 deg,
      new cmd heading: 344.693675 deg.

2021-08-13T01:13:50.211Z,1628817230.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:50.593Z,1628817230.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:50.593Z,1628817230.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:50.593Z,1628817230.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:50.594Z,1628817230.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:51.017Z,1628817231.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,004B6,184,80,80,98,FF
2021-08-13T01:13:51.017Z,1628817231.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:51.017Z,1628817231.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:51.019Z,1628817231.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:51.473Z,1628817231.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:51.874Z,1628817231.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,0048C,186,80,80,74,FF
2021-08-13T01:13:51.875Z,1628817231.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:51.906Z,1628817231.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:13:52.289Z,1628817232.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011352.54*5B

2021-08-13T01:13:52.311Z,1628817232.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 345.129923 deg, deltaT: 4.458308 s, approachRate: -0.565236 m/s, LOS rate: -0.011245 deg/s, posRepo size: 4
2021-08-13T01:13:52.312Z,1628817232.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m.
2021-08-13T01:13:52.314Z,1628817232.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 345.129923 deg,
      approachRate: -0.565236 m/s,
      LOS rate: -0.011245 deg/s,
      cmd update: -0.033735 deg/s,
      cmd heading: 337.465931 deg,
      new cmd heading: 336.810382 deg.

2021-08-13T01:13:54.762Z,1628817234.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:55.097Z,1628817235.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:55.097Z,1628817235.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:55.097Z,1628817235.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:55.098Z,1628817235.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:55.501Z,1628817235.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,0048C,186,80,80,74,FF
2021-08-13T01:13:55.501Z,1628817235.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:55.502Z,1628817235.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:55.503Z,1628817235.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:13:55.912Z,1628817235.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:13:56.309Z,1628817236.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00465,183,80,80,86,FF
2021-08-13T01:13:56.309Z,1628817236.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:13:56.358Z,1628817236.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:13:56.777Z,1628817236.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011357.03*5C

2021-08-13T01:13:56.816Z,1628817236.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.000002 m, bearing: 344.639051 deg, deltaT: 4.451688 s, approachRate: -0.525643 m/s, LOS rate: -0.110266 deg/s, posRepo size: 4
2021-08-13T01:13:56.816Z,1628817236.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.00 m.
2021-08-13T01:13:56.817Z,1628817236.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.00 m.
2021-08-13T01:13:56.817Z,1628817236.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:13:56.819Z,1628817236.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 344.639051 deg,
      approachRate: -0.525643 m/s,
      LOS rate: -0.110266 deg/s,
      cmd update: -0.330799 deg/s,
      cmd heading: 337.315756 deg,
      new cmd heading: 337.300208 deg.

2021-08-13T01:13:59.183Z,1628817239.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:13:59.556Z,1628817239.556 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:13:59.556Z,1628817239.556 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:13:59.556Z,1628817239.556 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:13:59.557Z,1628817239.557 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:13:59.949Z,1628817239.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00465,183,80,80,86,FF
2021-08-13T01:13:59.949Z,1628817239.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:13:59.949Z,1628817239.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:13:59.951Z,1628817239.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:00.353Z,1628817240.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:00.753Z,1628817240.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00437,184,80,80,B3,FF
2021-08-13T01:14:00.753Z,1628817240.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:00.816Z,1628817240.816 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:01.201Z,1628817241.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011401.48*57

2021-08-13T01:14:01.237Z,1628817241.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 343.953273 deg, deltaT: 4.458270 s, approachRate: -0.619075 m/s, LOS rate: -0.153822 deg/s, posRepo size: 4
2021-08-13T01:14:01.239Z,1628817241.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 343.953273 deg,
      approachRate: -0.619075 m/s,
      LOS rate: -0.153822 deg/s,
      cmd update: -0.461465 deg/s,
      cmd heading: 335.843605 deg,
      new cmd heading: 335.700870 deg.

2021-08-13T01:14:03.599Z,1628817243.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:03.997Z,1628817243.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:03.997Z,1628817243.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:03.997Z,1628817243.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:03.998Z,1628817243.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:04.401Z,1628817244.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00437,184,80,80,B3,FF
2021-08-13T01:14:04.402Z,1628817244.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:04.402Z,1628817244.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:04.403Z,1628817244.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:04.801Z,1628817244.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:05.197Z,1628817245.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0040B,184,80,80,69,FF
2021-08-13T01:14:05.197Z,1628817245.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:05.258Z,1628817245.258 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:05.629Z,1628817245.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011405.96*50

2021-08-13T01:14:05.651Z,1628817245.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 344.023815 deg, deltaT: 4.442141 s, approachRate: -0.594307 m/s, LOS rate: 0.015880 deg/s, posRepo size: 4
2021-08-13T01:14:05.695Z,1628817245.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.600000 m,
      bearing: 344.023815 deg,
      approachRate: -0.594307 m/s,
      LOS rate: 0.015880 deg/s,
      cmd update: 0.047641 deg/s,
      cmd heading: 333.799194 deg,
      new cmd heading: 333.607155 deg.

2021-08-13T01:14:08.078Z,1628817248.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:08.429Z,1628817248.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:08.429Z,1628817248.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:08.429Z,1628817248.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:08.430Z,1628817248.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:08.843Z,1628817248.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0040B,184,80,80,69,FF
2021-08-13T01:14:08.843Z,1628817248.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:08.843Z,1628817248.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:08.847Z,1628817248.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:09.241Z,1628817249.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:09.653Z,1628817249.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,003DF,187,80,80,57,FF
2021-08-13T01:14:09.654Z,1628817249.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:09.726Z,1628817249.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:10.085Z,1628817250.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011410.37*5F

2021-08-13T01:14:10.125Z,1628817250.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 347.588737 deg, deltaT: 4.467366 s, approachRate: -0.590953 m/s, LOS rate: 0.797992 deg/s, posRepo size: 4
2021-08-13T01:14:10.127Z,1628817250.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 347.588737 deg,
      approachRate: -0.590953 m/s,
      LOS rate: 0.797992 deg/s,
      cmd update: 2.393976 deg/s,
      cmd heading: 334.012787 deg,
      new cmd heading: 334.032132 deg.

2021-08-13T01:14:12.491Z,1628817252.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:12.884Z,1628817252.884 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:12.884Z,1628817252.884 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:12.885Z,1628817252.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:12.886Z,1628817252.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:13.288Z,1628817253.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,003DF,187,80,80,57,FF
2021-08-13T01:14:13.288Z,1628817253.288 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:13.289Z,1628817253.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:13.290Z,1628817253.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:13.716Z,1628817253.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:14.085Z,1628817254.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,003B1,186,80,80,65,FF
2021-08-13T01:14:14.086Z,1628817254.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:14.126Z,1628817254.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:14.517Z,1628817254.517 [Micromodem](INFO): Nmea in: $SNTTA,0.025856,,,,011414.82*47

2021-08-13T01:14:14.569Z,1628817254.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 341.971562 deg, deltaT: 4.400338 s, approachRate: -0.627224 m/s, LOS rate: -1.276533 deg/s, posRepo size: 4
2021-08-13T01:14:14.571Z,1628817254.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 341.971562 deg,
      approachRate: -0.627224 m/s,
      LOS rate: -1.276533 deg/s,
      cmd update: -3.829598 deg/s,
      cmd heading: 344.527402 deg,
      new cmd heading: 345.622890 deg.

2021-08-13T01:14:17.018Z,1628817257.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:17.317Z,1628817257.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:17.317Z,1628817257.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:17.317Z,1628817257.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:17.318Z,1628817257.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:17.749Z,1628817257.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,003B1,186,80,80,65,FF
2021-08-13T01:14:17.749Z,1628817257.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:17.749Z,1628817257.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:17.751Z,1628817257.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:18.129Z,1628817258.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:18.545Z,1628817258.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00385,186,80,80,AA,FF
2021-08-13T01:14:18.546Z,1628817258.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:18.566Z,1628817258.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:19.001Z,1628817259.001 [Micromodem](INFO): Nmea in: $SNTTA,0.044534,,,,011419.28*44

2021-08-13T01:14:19.081Z,1628817259.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 344.322540 deg, deltaT: 4.439796 s, approachRate: -0.594622 m/s, LOS rate: 0.529524 deg/s, posRepo size: 4
2021-08-13T01:14:19.083Z,1628817259.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 344.322540 deg,
      approachRate: -0.594622 m/s,
      LOS rate: 0.529524 deg/s,
      cmd update: 1.588572 deg/s,
      cmd heading: 327.477929 deg,
      new cmd heading: 325.512162 deg.

2021-08-13T01:14:21.081Z,1628817261.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:21.365Z,1628817261.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:21.365Z,1628817261.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:21.366Z,1628817261.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:21.366Z,1628817261.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:21.777Z,1628817261.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00385,186,80,80,AA,FF
2021-08-13T01:14:21.777Z,1628817261.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:21.778Z,1628817261.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:21.779Z,1628817261.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:22.176Z,1628817262.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:22.578Z,1628817262.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,0035D,185,80,80,AE,FF
2021-08-13T01:14:22.578Z,1628817262.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:22.603Z,1628817262.603 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:23.009Z,1628817263.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011423.31*59

2021-08-13T01:14:23.067Z,1628817263.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 345.243140 deg, deltaT: 4.036998 s, approachRate: -0.594501 m/s, LOS rate: 0.228041 deg/s, posRepo size: 4
2021-08-13T01:14:23.069Z,1628817263.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 345.243140 deg,
      approachRate: -0.594501 m/s,
      LOS rate: 0.228041 deg/s,
      cmd update: 0.684122 deg/s,
      cmd heading: 333.891056 deg,
      new cmd heading: 334.632889 deg.

2021-08-13T01:14:25.426Z,1628817265.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:25.798Z,1628817265.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:25.798Z,1628817265.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:25.798Z,1628817265.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:25.799Z,1628817265.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:26.209Z,1628817266.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,0035D,185,80,80,AE,FF
2021-08-13T01:14:26.209Z,1628817266.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:26.209Z,1628817266.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:26.211Z,1628817266.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:26.615Z,1628817266.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:27.017Z,1628817267.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00334,186,80,80,98,FF
2021-08-13T01:14:27.017Z,1628817267.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:27.117Z,1628817267.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:27.472Z,1628817267.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011427.74*5C

2021-08-13T01:14:27.496Z,1628817267.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 342.920275 deg, deltaT: 4.514167 s, approachRate: -0.544951 m/s, LOS rate: -0.514572 deg/s, posRepo size: 4
2021-08-13T01:14:27.498Z,1628817267.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 342.920275 deg,
      approachRate: -0.544951 m/s,
      LOS rate: -0.514572 deg/s,
      cmd update: -1.543717 deg/s,
      cmd heading: 336.976539 deg,
      new cmd heading: 337.240273 deg.

2021-08-13T01:14:29.899Z,1628817269.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:30.249Z,1628817270.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:30.249Z,1628817270.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:30.249Z,1628817270.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:30.249Z,1628817270.249 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:30.649Z,1628817270.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00334,186,80,80,98,FF
2021-08-13T01:14:30.649Z,1628817270.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:30.649Z,1628817270.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:30.651Z,1628817270.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:31.064Z,1628817271.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:31.463Z,1628817271.463 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,0030B,185,80,80,78,FF
2021-08-13T01:14:31.463Z,1628817271.463 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:31.493Z,1628817271.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:31.901Z,1628817271.901 [Micromodem](INFO): Nmea in: $SNTTA,0.026484,,,,011432.18*40

2021-08-13T01:14:31.948Z,1628817271.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 340.382067 deg, deltaT: 4.375707 s, approachRate: -0.562195 m/s, LOS rate: -0.580068 deg/s, posRepo size: 4
2021-08-13T01:14:31.950Z,1628817271.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 340.382067 deg,
      approachRate: -0.562195 m/s,
      LOS rate: -0.580068 deg/s,
      cmd update: -1.740204 deg/s,
      cmd heading: 330.220381 deg,
      new cmd heading: 329.508753 deg.

2021-08-13T01:14:34.307Z,1628817274.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:34.706Z,1628817274.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:34.706Z,1628817274.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:34.707Z,1628817274.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:34.707Z,1628817274.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:35.101Z,1628817275.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,0030B,185,80,80,78,FF
2021-08-13T01:14:35.101Z,1628817275.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:35.101Z,1628817275.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:35.103Z,1628817275.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:35.501Z,1628817275.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:35.909Z,1628817275.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,002FA,186,80,80,C2,FF
2021-08-13T01:14:35.909Z,1628817275.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:35.993Z,1628817275.993 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:36.341Z,1628817276.341 [Micromodem](INFO): Nmea in: $SNTTA,0.034003,,,,011436.63*40

2021-08-13T01:14:36.402Z,1628817276.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 345.225846 deg, deltaT: 4.499980 s, approachRate: -0.226668 m/s, LOS rate: 1.076400 deg/s, posRepo size: 4
2021-08-13T01:14:36.409Z,1628817276.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 345.225846 deg,
      approachRate: -0.226668 m/s,
      LOS rate: 1.076400 deg/s,
      cmd update: 3.229200 deg/s,
      cmd heading: 322.393096 deg,
      new cmd heading: 321.667346 deg.

2021-08-13T01:14:38.788Z,1628817278.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:39.133Z,1628817279.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:39.133Z,1628817279.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:39.133Z,1628817279.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:39.134Z,1628817279.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:39.549Z,1628817279.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,002FA,186,80,80,C2,FF
2021-08-13T01:14:39.549Z,1628817279.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:39.549Z,1628817279.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:39.551Z,1628817279.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:39.951Z,1628817279.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:40.345Z,1628817280.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,002CA,186,80,80,45,FF
2021-08-13T01:14:40.345Z,1628817280.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:40.404Z,1628817280.404 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:40.778Z,1628817280.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011441.08*57

2021-08-13T01:14:40.804Z,1628817280.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 304.966990 deg, deltaT: 4.411611 s, approachRate: -0.652823 m/s, LOS rate: -9.125659 deg/s, posRepo size: 4
2021-08-13T01:14:40.806Z,1628817280.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 304.966990 deg,
      approachRate: -0.652823 m/s,
      LOS rate: -9.125659 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 336.629019 deg,
      new cmd heading: 337.956944 deg.

2021-08-13T01:14:43.234Z,1628817283.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:43.581Z,1628817283.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:43.581Z,1628817283.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:43.581Z,1628817283.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:43.582Z,1628817283.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:43.981Z,1628817283.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,002CA,186,80,80,45,FF
2021-08-13T01:14:43.981Z,1628817283.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:43.981Z,1628817283.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:43.983Z,1628817283.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:44.388Z,1628817284.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:44.793Z,1628817284.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,002C1,189,80,80,71,FF
2021-08-13T01:14:44.793Z,1628817284.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:44.862Z,1628817284.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:45.233Z,1628817285.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011445.51*5F

2021-08-13T01:14:45.284Z,1628817285.284 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T01:14:45.284Z,1628817285.284 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:14:45.284Z,1628817285.284 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T01:14:45.285Z,1628817285.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:14:45.285Z,1628817285.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T01:14:45.285Z,1628817285.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-08-13T01:14:45.285Z,1628817285.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T01:14:45.285Z,1628817285.285 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T01:14:45.286Z,1628817285.286 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T01:14:45.305Z,1628817285.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 296.722050 deg, deltaT: 4.458357 s, approachRate: -0.121121 m/s, LOS rate: -1.849323 deg/s, posRepo size: 4
2021-08-13T01:14:45.314Z,1628817285.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 296.722050 deg,
      approachRate: -0.121121 m/s,
      LOS rate: -1.849323 deg/s,
      cmd update: -5.547968 deg/s,
      cmd heading: 283.181581 deg,
      new cmd heading: 277.888213 deg.

2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T011445: (41.552319, -70.708603)
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T01:14:45.635Z,1628817285.635 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T01:14:45.636Z,1628817285.636 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:14:47.701Z,1628817287.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:48.021Z,1628817288.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:48.021Z,1628817288.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:48.021Z,1628817288.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:48.022Z,1628817288.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:48.434Z,1628817288.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,002C1,189,80,80,71,FF
2021-08-13T01:14:48.434Z,1628817288.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:48.434Z,1628817288.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:48.435Z,1628817288.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:48.833Z,1628817288.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:49.237Z,1628817289.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,002CF,186,80,80,8A,FF
2021-08-13T01:14:49.238Z,1628817289.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:49.307Z,1628817289.307 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:49.689Z,1628817289.689 [Micromodem](INFO): Nmea in: $SNTTA,0.008093,,,,011449.96*44

2021-08-13T01:14:49.752Z,1628817289.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 353.986602 deg, deltaT: 4.444019 s, approachRate: 0.189018 m/s, LOS rate: 12.885758 deg/s, posRepo size: 4
2021-08-13T01:14:49.753Z,1628817289.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.885758 deg/s. Setting heading cmd to target bearing of 353.986602deg and heading rate command to 0 deg/s.
2021-08-13T01:14:52.102Z,1628817292.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:52.500Z,1628817292.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:52.500Z,1628817292.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:52.500Z,1628817292.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:52.501Z,1628817292.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:52.881Z,1628817292.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,002CF,186,80,80,8A,FF
2021-08-13T01:14:52.881Z,1628817292.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:52.882Z,1628817292.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:52.897Z,1628817292.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:53.292Z,1628817293.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:53.720Z,1628817293.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00308,184,80,80,49,FF
2021-08-13T01:14:53.720Z,1628817293.720 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:53.734Z,1628817293.734 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:14:53.781Z,1628817293.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:54.109Z,1628817294.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011454.42*5D

2021-08-13T01:14:54.140Z,1628817294.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 317.868890 deg, deltaT: 4.474571 s, approachRate: 0.764319 m/s, LOS rate: -8.071771 deg/s, posRepo size: 4
2021-08-13T01:14:54.142Z,1628817294.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 317.868890 deg,
      approachRate: 0.764319 m/s,
      LOS rate: -8.071771 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.986602 deg,
      new cmd heading: 353.986602 deg.

2021-08-13T01:14:56.523Z,1628817296.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:14:56.957Z,1628817296.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:14:56.957Z,1628817296.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:14:56.957Z,1628817296.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:14:56.958Z,1628817296.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:14:57.321Z,1628817297.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00308,184,80,80,49,FF
2021-08-13T01:14:57.321Z,1628817297.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:14:57.321Z,1628817297.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:14:57.323Z,1628817297.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:14:57.748Z,1628817297.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:14:58.133Z,1628817298.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00323,187,80,80,52,FF
2021-08-13T01:14:58.134Z,1628817298.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:14:58.154Z,1628817298.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:14:58.569Z,1628817298.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011458.85*5A

2021-08-13T01:14:58.591Z,1628817298.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 306.676969 deg, deltaT: 4.372346 s, approachRate: 0.370511 m/s, LOS rate: -2.559706 deg/s, posRepo size: 4
2021-08-13T01:14:58.594Z,1628817298.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 306.676969 deg,
      approachRate: 0.370511 m/s,
      LOS rate: -2.559706 deg/s,
      cmd update: -7.679119 deg/s,
      cmd heading: 301.134796 deg,
      new cmd heading: 295.845616 deg.

2021-08-13T01:15:01.042Z,1628817301.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:01.353Z,1628817301.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:01.354Z,1628817301.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:01.354Z,1628817301.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:01.355Z,1628817301.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:01.765Z,1628817301.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00323,187,80,80,52,FF
2021-08-13T01:15:01.765Z,1628817301.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:01.765Z,1628817301.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:01.767Z,1628817301.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:02.174Z,1628817302.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:02.565Z,1628817302.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,0035E,186,80,80,46,FF
2021-08-13T01:15:02.566Z,1628817302.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:02.631Z,1628817302.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:03.021Z,1628817303.021 [Micromodem](INFO): Nmea in: $SNTTA,0.041865,,,,011503.30*4B

2021-08-13T01:15:03.099Z,1628817303.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 290.438768 deg, deltaT: 4.476941 s, approachRate: 0.790719 m/s, LOS rate: -3.627075 deg/s, posRepo size: 4
2021-08-13T01:15:03.105Z,1628817303.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 290.438768 deg,
      approachRate: 0.790719 m/s,
      LOS rate: -3.627075 deg/s,
      cmd update: -10.881226 deg/s,
      cmd heading: 266.755344 deg,
      new cmd heading: 263.139048 deg.

2021-08-13T01:15:05.419Z,1628817305.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:05.809Z,1628817305.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:05.809Z,1628817305.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:05.809Z,1628817305.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:05.810Z,1628817305.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:06.205Z,1628817306.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,0035E,186,80,80,46,FF
2021-08-13T01:15:06.205Z,1628817306.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:06.205Z,1628817306.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:06.207Z,1628817306.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:06.609Z,1628817306.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:07.013Z,1628817307.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,0037A,187,80,80,61,FF
2021-08-13T01:15:07.013Z,1628817307.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:07.106Z,1628817307.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:07.461Z,1628817307.461 [Micromodem](INFO): Nmea in: $SNTTA,0.029872,,,,011507.74*47

2021-08-13T01:15:07.500Z,1628817307.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 321.227594 deg, deltaT: 4.475661 s, approachRate: 0.375363 m/s, LOS rate: 6.879168 deg/s, posRepo size: 4
2021-08-13T01:15:07.500Z,1628817307.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.90 m. Rolling out.
2021-08-13T01:15:07.501Z,1628817307.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T01:15:09.893Z,1628817309.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:10.241Z,1628817310.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:10.241Z,1628817310.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:10.241Z,1628817310.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:10.242Z,1628817310.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:10.648Z,1628817310.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,0037A,187,80,80,61,FF
2021-08-13T01:15:10.648Z,1628817310.648 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:10.649Z,1628817310.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:10.650Z,1628817310.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:11.062Z,1628817311.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:11.886Z,1628817311.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011512.18*51

2021-08-13T01:15:12.725Z,1628817312.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:13.898Z,1628817313.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,08355,184,80,80,63,FF
2021-08-13T01:15:13.898Z,1628817313.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:13.958Z,1628817313.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:14.316Z,1628817314.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1979.760132 m, bearing: 289.328862 deg, deltaT: 6.851296 s, approachRate: 286.640686 m/s, LOS rate: -4.655868 deg/s, posRepo size: 4
2021-08-13T01:15:14.316Z,1628817314.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1979.76 m. Resuming terminal guidance.
2021-08-13T01:15:14.317Z,1628817314.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:15:14.751Z,1628817314.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:15:14.751Z,1628817314.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:14.751Z,1628817314.751 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:15:14.752Z,1628817314.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:15:14.752Z,1628817314.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:15:14.752Z,1628817314.752 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:15:15.141Z,1628817315.141 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:15:15.142Z,1628817315.142 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:15.142Z,1628817315.142 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:15:15.142Z,1628817315.142 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:16.769Z,1628817316.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:17.125Z,1628817317.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:17.125Z,1628817317.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:17.125Z,1628817317.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:17.126Z,1628817317.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:17.520Z,1628817317.520 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,08355,184,80,80,63,FF
2021-08-13T01:15:17.520Z,1628817317.520 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:17.521Z,1628817317.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:17.522Z,1628817317.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:17.945Z,1628817317.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:18.327Z,1628817318.327 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:15:18.758Z,1628817318.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011519.05*56

2021-08-13T01:15:19.577Z,1628817319.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:21.159Z,1628817321.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,184,80,80,63,FF
2021-08-13T01:15:21.159Z,1628817321.159 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,184,80,80,63,FF
2021-08-13T01:15:21.159Z,1628817321.159 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:15:22.418Z,1628817322.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:22.782Z,1628817322.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:22.782Z,1628817322.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:22.782Z,1628817322.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:22.783Z,1628817322.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:22.808Z,1628817322.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,184,80,80,63,FF
2021-08-13T01:15:22.808Z,1628817322.808 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:22.808Z,1628817322.808 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:22.810Z,1628817322.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:23.184Z,1628817323.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:23.594Z,1628817323.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,364,000,003E8,189,80,80,8C,FF
2021-08-13T01:15:23.594Z,1628817323.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:24.011Z,1628817324.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011524.34*5A

2021-08-13T01:15:24.065Z,1628817324.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 206.966316 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:15:24.065Z,1628817324.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 22.50 m.
2021-08-13T01:15:24.066Z,1628817324.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 206.966316deg and heading rate command to 0 deg/s.
2021-08-13T01:15:24.467Z,1628817324.467 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:15:24.502Z,1628817324.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:15:24.502Z,1628817324.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:24.502Z,1628817324.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:15:24.503Z,1628817324.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:15:24.503Z,1628817324.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:15:24.503Z,1628817324.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:15:24.870Z,1628817324.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:15:24.870Z,1628817324.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:24.870Z,1628817324.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:15:24.870Z,1628817324.870 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:26.435Z,1628817326.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:26.825Z,1628817326.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:26.825Z,1628817326.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:26.826Z,1628817326.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:26.826Z,1628817326.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:27.221Z,1628817327.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
364,000,003E8,189,80,80,8C,FF
2021-08-13T01:15:27.221Z,1628817327.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:27.221Z,1628817327.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:27.223Z,1628817327.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:27.648Z,1628817327.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:28.029Z,1628817328.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,003FF,186,80,80,79,FF
2021-08-13T01:15:28.029Z,1628817328.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:28.096Z,1628817328.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:28.485Z,1628817328.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011528.75*53

2021-08-13T01:15:28.503Z,1628817328.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 211.313731 deg, deltaT: 4.479620 s, approachRate: 0.308063 m/s, LOS rate: 0.970487 deg/s, posRepo size: 2
2021-08-13T01:15:28.504Z,1628817328.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.88 m.
2021-08-13T01:15:28.506Z,1628817328.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 211.313731 deg,
      approachRate: 0.308063 m/s,
      LOS rate: 0.970487 deg/s,
      cmd update: 2.911462 deg/s,
      cmd heading: 206.966316 deg,
      new cmd heading: 206.966316 deg.

2021-08-13T01:15:30.955Z,1628817330.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:31.276Z,1628817331.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:31.276Z,1628817331.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:31.276Z,1628817331.276 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:31.277Z,1628817331.277 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:31.673Z,1628817331.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,003FF,186,80,80,79,FF
2021-08-13T01:15:31.673Z,1628817331.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:31.674Z,1628817331.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:31.681Z,1628817331.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:32.073Z,1628817332.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:32.928Z,1628817332.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23F,000,02164,188,80,80,6B,FF
2021-08-13T01:15:32.930Z,1628817332.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:32.948Z,1628817332.948 [Micromodem](INFO): Nmea in: $SNTTA,0.318952,,,,011533.21*42

2021-08-13T01:15:33.038Z,1628817333.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:33.348Z,1628817333.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 475.379974 m, bearing: 190.458500 deg, deltaT: 4.941836 s, approachRate: 91.362801 m/s, LOS rate: -4.220138 deg/s, posRepo size: 3
2021-08-13T01:15:33.351Z,1628817333.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 475.379974 m,
      bearing: 190.458500 deg,
      approachRate: 91.362801 m/s,
      LOS rate: -4.220138 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 221.331533 deg,
      new cmd heading: 222.238995 deg.

2021-08-13T01:15:33.737Z,1628817333.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:15:33.737Z,1628817333.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:33.737Z,1628817333.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:15:33.738Z,1628817333.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:15:33.738Z,1628817333.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:15:33.738Z,1628817333.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:15:34.142Z,1628817334.142 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:15:34.143Z,1628817334.143 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:34.143Z,1628817334.143 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:15:34.143Z,1628817334.143 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:15:35.813Z,1628817335.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:36.109Z,1628817336.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:36.109Z,1628817336.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:36.109Z,1628817336.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:36.110Z,1628817336.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:36.517Z,1628817336.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23F,000,02164,188,80,80,6B,FF
2021-08-13T01:15:36.517Z,1628817336.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:36.518Z,1628817336.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:36.519Z,1628817336.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:36.985Z,1628817336.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:37.329Z,1628817337.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00420,186,80,80,B5,FF
2021-08-13T01:15:37.329Z,1628817337.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:37.774Z,1628817337.774 [Micromodem](INFO): Nmea in: $SNTTA,,0.030325,,,011538.05*4C

2021-08-13T01:15:37.800Z,1628817337.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 200.349980 deg, deltaT: 4.311646 s, approachRate: -104.257156 m/s, LOS rate: 2.294131 deg/s, posRepo size: 4
2021-08-13T01:15:37.801Z,1628817337.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 25.86 m.
2021-08-13T01:15:37.801Z,1628817337.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 25.86 m.
2021-08-13T01:15:37.801Z,1628817337.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:15:37.803Z,1628817337.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 200.349980 deg,
      approachRate: -104.257156 m/s,
      LOS rate: 2.294131 deg/s,
      cmd update: 6.882392 deg/s,
      cmd heading: 169.394032 deg,
      new cmd heading: 163.958584 deg.

2021-08-13T01:15:38.163Z,1628817338.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:15:38.163Z,1628817338.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:38.163Z,1628817338.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:15:38.163Z,1628817338.163 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:15:38.164Z,1628817338.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:15:38.164Z,1628817338.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:15:38.581Z,1628817338.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:15:38.581Z,1628817338.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:38.581Z,1628817338.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:15:38.581Z,1628817338.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:15:40.171Z,1628817340.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:40.553Z,1628817340.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:40.554Z,1628817340.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:40.554Z,1628817340.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:40.555Z,1628817340.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:40.989Z,1628817340.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00420,186,80,80,B5,FF
2021-08-13T01:15:40.989Z,1628817340.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:40.989Z,1628817340.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:40.991Z,1628817340.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:41.358Z,1628817341.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:41.769Z,1628817341.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00436,186,80,80,A1,FF
2021-08-13T01:15:41.770Z,1628817341.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:41.800Z,1628817341.800 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:42.197Z,1628817342.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011542.52*5A

2021-08-13T01:15:42.231Z,1628817342.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 187.331134 deg, deltaT: 4.450039 s, approachRate: 0.296627 m/s, LOS rate: -2.925558 deg/s, posRepo size: 4
2021-08-13T01:15:42.238Z,1628817342.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 187.331134 deg,
      approachRate: 0.296627 m/s,
      LOS rate: -2.925558 deg/s,
      cmd update: -8.776673 deg/s,
      cmd heading: 200.017601 deg,
      new cmd heading: 203.011153 deg.

2021-08-13T01:15:44.631Z,1628817344.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:45.001Z,1628817345.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:45.001Z,1628817345.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:45.001Z,1628817345.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:45.002Z,1628817345.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:45.401Z,1628817345.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00436,186,80,80,A1,FF
2021-08-13T01:15:45.401Z,1628817345.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:45.401Z,1628817345.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:45.403Z,1628817345.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:45.817Z,1628817345.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:46.209Z,1628817346.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FF,000,00441,186,80,80,72,FF
2021-08-13T01:15:46.209Z,1628817346.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:46.262Z,1628817346.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:46.650Z,1628817346.650 [Micromodem](INFO): Nmea in: $SNTTA,0.037727,,,,011546.93*4B

2021-08-13T01:15:46.711Z,1628817346.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 174.284762 deg, deltaT: 4.461905 s, approachRate: 0.147918 m/s, LOS rate: -2.923947 deg/s, posRepo size: 4
2021-08-13T01:15:46.717Z,1628817346.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 174.284762 deg,
      approachRate: 0.147918 m/s,
      LOS rate: -2.923947 deg/s,
      cmd update: -8.771839 deg/s,
      cmd heading: 160.890088 deg,
      new cmd heading: 156.883993 deg.

2021-08-13T01:15:49.107Z,1628817349.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:49.441Z,1628817349.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:49.441Z,1628817349.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:49.441Z,1628817349.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:49.442Z,1628817349.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:49.846Z,1628817349.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FF,000,00441,186,80,80,72,FF
2021-08-13T01:15:49.846Z,1628817349.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:49.846Z,1628817349.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:49.888Z,1628817349.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:50.261Z,1628817350.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:50.453Z,1628817350.453 [CTD_Seabird](ERROR): Failed to parse device response: 6.11,06
2021-08-13T01:15:50.669Z,1628817350.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00459,186,80,80,8C,FF
2021-08-13T01:15:50.670Z,1628817350.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:50.740Z,1628817350.740 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:51.142Z,1628817351.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 170.358332 deg, deltaT: 4.478540 s, approachRate: 0.321535 m/s, LOS rate: -0.876721 deg/s, posRepo size: 4
2021-08-13T01:15:51.205Z,1628817351.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 170.358332 deg,
      approachRate: 0.321535 m/s,
      LOS rate: -0.876721 deg/s,
      cmd update: -2.630163 deg/s,
      cmd heading: 121.571765 deg,
      new cmd heading: 118.083845 deg.

2021-08-13T01:15:51.489Z,1628817351.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011551.47*5C

2021-08-13T01:15:53.520Z,1628817353.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:53.897Z,1628817353.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:53.897Z,1628817353.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:53.897Z,1628817353.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:53.898Z,1628817353.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:54.289Z,1628817354.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00459,186,80,80,8C,FF
2021-08-13T01:15:54.289Z,1628817354.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:54.289Z,1628817354.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:54.291Z,1628817354.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:54.724Z,1628817354.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:55.097Z,1628817355.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00459,186,80,80,79,FF
2021-08-13T01:15:55.097Z,1628817355.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:55.163Z,1628817355.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:55.541Z,1628817355.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011555.82*51

2021-08-13T01:15:55.564Z,1628817355.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 170.423383 deg, deltaT: 4.422478 s, approachRate: 0.000000 m/s, LOS rate: 0.014709 deg/s, posRepo size: 4
2021-08-13T01:15:55.566Z,1628817355.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 170.423383 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.014709 deg/s,
      cmd update: 0.044127 deg/s,
      cmd heading: 109.939507 deg,
      new cmd heading: 108.877208 deg.

2021-08-13T01:15:57.969Z,1628817357.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:15:58.329Z,1628817358.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:15:58.329Z,1628817358.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:15:58.329Z,1628817358.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:15:58.330Z,1628817358.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:15:58.741Z,1628817358.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00459,186,80,80,79,FF
2021-08-13T01:15:58.741Z,1628817358.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:15:58.741Z,1628817358.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:15:58.743Z,1628817358.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:15:59.145Z,1628817359.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:15:59.549Z,1628817359.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00457,189,80,80,7A,FF
2021-08-13T01:15:59.549Z,1628817359.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:15:59.629Z,1628817359.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:15:59.989Z,1628817359.989 [Micromodem](INFO): Nmea in: $SNTTA,0.045913,,,,011600.27*49

2021-08-13T01:16:00.023Z,1628817360.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 96.154508 deg, deltaT: 4.466399 s, approachRate: -0.026867 m/s, LOS rate: -16.628357 deg/s, posRepo size: 4
2021-08-13T01:16:00.044Z,1628817360.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.628357 deg/s. Setting heading cmd to target bearing of 96.154508deg and heading rate command to 0 deg/s.
2021-08-13T01:16:02.399Z,1628817362.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:02.773Z,1628817362.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:02.773Z,1628817362.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:02.773Z,1628817362.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:02.774Z,1628817362.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:03.185Z,1628817363.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00457,189,80,80,7A,FF
2021-08-13T01:16:03.185Z,1628817363.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:03.185Z,1628817363.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:03.187Z,1628817363.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:03.588Z,1628817363.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:03.985Z,1628817363.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0044C,189,80,80,83,FF
2021-08-13T01:16:03.985Z,1628817363.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:04.053Z,1628817364.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:04.413Z,1628817364.413 [Micromodem](INFO): Nmea in: $SNTTA,0.066413,,,,011604.72*41

2021-08-13T01:16:04.454Z,1628817364.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 81.870718 deg, deltaT: 4.424262 s, approachRate: -0.149178 m/s, LOS rate: -3.228514 deg/s, posRepo size: 4
2021-08-13T01:16:04.456Z,1628817364.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.500000 m,
      bearing: 81.870718 deg,
      approachRate: -0.149178 m/s,
      LOS rate: -3.228514 deg/s,
      cmd update: -9.685541 deg/s,
      cmd heading: 96.154508 deg,
      new cmd heading: 96.154508 deg.

2021-08-13T01:16:06.863Z,1628817366.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:07.213Z,1628817367.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:07.213Z,1628817367.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:07.214Z,1628817367.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:07.214Z,1628817367.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:07.617Z,1628817367.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0044C,189,80,80,83,FF
2021-08-13T01:16:07.618Z,1628817367.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:07.618Z,1628817367.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:07.619Z,1628817367.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:08.029Z,1628817368.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:08.434Z,1628817368.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00440,189,80,80,90,FF
2021-08-13T01:16:08.434Z,1628817368.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:08.454Z,1628817368.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:08.888Z,1628817368.888 [Micromodem](INFO): Nmea in: $SNTTA,0.044470,,,,011609.15*48

2021-08-13T01:16:08.964Z,1628817368.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 65.738754 deg, deltaT: 4.400296 s, approachRate: -0.163626 m/s, LOS rate: -3.666109 deg/s, posRepo size: 4
2021-08-13T01:16:08.965Z,1628817368.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 27.78 m.
2021-08-13T01:16:08.967Z,1628817368.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.779999 m,
      bearing: 65.738754 deg,
      approachRate: -0.163626 m/s,
      LOS rate: -3.666109 deg/s,
      cmd update: -10.998326 deg/s,
      cmd heading: 53.496895 deg,
      new cmd heading: 48.525772 deg.

2021-08-13T01:16:11.503Z,1628817371.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:11.693Z,1628817371.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:11.693Z,1628817371.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:11.693Z,1628817371.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:11.694Z,1628817371.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:12.069Z,1628817372.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00440,189,80,80,90,FF
2021-08-13T01:16:12.069Z,1628817372.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:12.069Z,1628817372.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:12.071Z,1628817372.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:12.508Z,1628817372.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:12.884Z,1628817372.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00426,189,80,80,9C,FF
2021-08-13T01:16:12.885Z,1628817372.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:12.991Z,1628817372.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:13.309Z,1628817373.309 [Micromodem](INFO): Nmea in: $SNTTA,0.059848,,,,011613.60*4A

2021-08-13T01:16:13.358Z,1628817373.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 47.284512 deg, deltaT: 4.537159 s, approachRate: -0.343827 m/s, LOS rate: -4.067356 deg/s, posRepo size: 4
2021-08-13T01:16:13.358Z,1628817373.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 26.22 m.
2021-08-13T01:16:13.360Z,1628817373.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.219999 m,
      bearing: 47.284512 deg,
      approachRate: -0.343827 m/s,
      LOS rate: -4.067356 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 3.681254 deg,
      new cmd heading: 359.525812 deg.

2021-08-13T01:16:15.769Z,1628817375.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:16.109Z,1628817376.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:16.109Z,1628817376.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:16.109Z,1628817376.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:16.110Z,1628817376.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:16.521Z,1628817376.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00426,189,80,80,9C,FF
2021-08-13T01:16:16.521Z,1628817376.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:16.522Z,1628817376.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:16.523Z,1628817376.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:16.947Z,1628817376.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:17.329Z,1628817377.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,00414,189,80,80,95,FF
2021-08-13T01:16:17.329Z,1628817377.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:17.374Z,1628817377.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:17.769Z,1628817377.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011618.05*54

2021-08-13T01:16:17.795Z,1628817377.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 53.222811 deg, deltaT: 4.383532 s, approachRate: -0.246376 m/s, LOS rate: 1.354684 deg/s, posRepo size: 4
2021-08-13T01:16:17.797Z,1628817377.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 53.222811 deg,
      approachRate: -0.246376 m/s,
      LOS rate: 1.354684 deg/s,
      cmd update: 4.064051 deg/s,
      cmd heading: 310.985834 deg,
      new cmd heading: 305.903018 deg.

2021-08-13T01:16:20.171Z,1628817380.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:20.561Z,1628817380.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:20.561Z,1628817380.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:20.561Z,1628817380.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:20.562Z,1628817380.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:20.985Z,1628817380.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,00414,189,80,80,95,FF
2021-08-13T01:16:20.985Z,1628817380.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:20.985Z,1628817380.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:20.987Z,1628817380.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:21.372Z,1628817381.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:21.770Z,1628817381.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27B,000,003E5,188,80,80,AA,FF
2021-08-13T01:16:21.770Z,1628817381.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:21.800Z,1628817381.800 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:22.200Z,1628817382.200 [Micromodem](INFO): Nmea in: $SNTTA,0.042936,,,,011622.51*48

2021-08-13T01:16:22.225Z,1628817382.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 47.246642 deg, deltaT: 4.425570 s, approachRate: -0.637206 m/s, LOS rate: -1.350373 deg/s, posRepo size: 4
2021-08-13T01:16:22.227Z,1628817382.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 47.246642 deg,
      approachRate: -0.637206 m/s,
      LOS rate: -1.350373 deg/s,
      cmd update: -4.051119 deg/s,
      cmd heading: 328.970525 deg,
      new cmd heading: 330.708110 deg.

2021-08-13T01:16:24.697Z,1628817384.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:24.990Z,1628817384.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:24.990Z,1628817384.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:24.991Z,1628817384.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:24.991Z,1628817384.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:25.407Z,1628817385.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27B,000,003E5,188,80,80,AA,FF
2021-08-13T01:16:25.407Z,1628817385.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:25.407Z,1628817385.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:25.410Z,1628817385.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:25.820Z,1628817385.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:26.208Z,1628817386.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,003B5,186,80,80,87,FF
2021-08-13T01:16:26.209Z,1628817386.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:26.275Z,1628817386.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:26.664Z,1628817386.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011626.94*51

2021-08-13T01:16:26.711Z,1628817386.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 45.388000 deg, deltaT: 4.474719 s, approachRate: -0.643616 m/s, LOS rate: -0.415365 deg/s, posRepo size: 4
2021-08-13T01:16:26.717Z,1628817386.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.440001 m,
      bearing: 45.388000 deg,
      approachRate: -0.643616 m/s,
      LOS rate: -0.415365 deg/s,
      cmd update: -1.246095 deg/s,
      cmd heading: 310.875210 deg,
      new cmd heading: 309.061484 deg.

2021-08-13T01:16:29.082Z,1628817389.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:29.442Z,1628817389.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:29.442Z,1628817389.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:29.442Z,1628817389.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:29.443Z,1628817389.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:29.850Z,1628817389.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,003B5,186,80,80,87,FF
2021-08-13T01:16:29.850Z,1628817389.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:29.850Z,1628817389.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:29.876Z,1628817389.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:30.253Z,1628817390.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:30.621Z,1628817390.621 [CTD_Seabird](ERROR): Failed to parse device response: 6.11,23.807.62
2021-08-13T01:16:30.647Z,1628817390.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00392,187,80,80,2B,FF
2021-08-13T01:16:30.647Z,1628817390.647 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:30.710Z,1628817390.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:31.079Z,1628817391.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011631.42*5C

2021-08-13T01:16:31.178Z,1628817391.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 44.468442 deg, deltaT: 4.435211 s, approachRate: -0.473484 m/s, LOS rate: -0.207331 deg/s, posRepo size: 4
2021-08-13T01:16:31.185Z,1628817391.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.339998 m,
      bearing: 44.468442 deg,
      approachRate: -0.473484 m/s,
      LOS rate: -0.207331 deg/s,
      cmd update: -0.621994 deg/s,
      cmd heading: 305.344078 deg,
      new cmd heading: 304.750638 deg.

2021-08-13T01:16:33.509Z,1628817393.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:33.893Z,1628817393.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:33.893Z,1628817393.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:33.893Z,1628817393.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:33.894Z,1628817393.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:34.293Z,1628817394.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00392,187,80,80,2B,FF
2021-08-13T01:16:34.293Z,1628817394.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:34.293Z,1628817394.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:34.295Z,1628817394.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:34.708Z,1628817394.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:35.097Z,1628817395.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0035A,186,80,80,B5,FF
2021-08-13T01:16:35.098Z,1628817395.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:35.201Z,1628817395.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:35.534Z,1628817395.534 [Micromodem](INFO): Nmea in: $SNTTA,0.058750,,,,011635.82*45

2021-08-13T01:16:35.551Z,1628817395.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 42.193835 deg, deltaT: 4.491593 s, approachRate: -0.748064 m/s, LOS rate: -0.506414 deg/s, posRepo size: 4
2021-08-13T01:16:35.553Z,1628817395.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.980000 m,
      bearing: 42.193835 deg,
      approachRate: -0.748064 m/s,
      LOS rate: -0.506414 deg/s,
      cmd update: -1.519243 deg/s,
      cmd heading: 302.550038 deg,
      new cmd heading: 302.328427 deg.

2021-08-13T01:16:37.976Z,1628817397.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:38.333Z,1628817398.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:38.333Z,1628817398.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:38.333Z,1628817398.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:38.334Z,1628817398.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:38.745Z,1628817398.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0035A,186,80,80,B5,FF
2021-08-13T01:16:38.745Z,1628817398.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:38.745Z,1628817398.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:38.747Z,1628817398.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:39.141Z,1628817399.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:39.541Z,1628817399.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00331,187,80,80,59,FF
2021-08-13T01:16:39.541Z,1628817399.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:39.581Z,1628817399.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:39.985Z,1628817399.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011640.27*59

2021-08-13T01:16:40.037Z,1628817400.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 43.246500 deg, deltaT: 4.380029 s, approachRate: -0.561640 m/s, LOS rate: 0.240333 deg/s, posRepo size: 4
2021-08-13T01:16:40.056Z,1628817400.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 43.246500 deg,
      approachRate: -0.561640 m/s,
      LOS rate: 0.240333 deg/s,
      cmd update: 0.720999 deg/s,
      cmd heading: 295.919435 deg,
      new cmd heading: 295.194680 deg.

2021-08-13T01:16:42.403Z,1628817402.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:42.773Z,1628817402.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:42.773Z,1628817402.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:42.773Z,1628817402.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:42.774Z,1628817402.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:43.181Z,1628817403.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00331,187,80,80,59,FF
2021-08-13T01:16:43.181Z,1628817403.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:43.181Z,1628817403.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:43.183Z,1628817403.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:43.585Z,1628817403.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:43.989Z,1628817403.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA7,000,00311,189,80,80,74,FF
2021-08-13T01:16:43.990Z,1628817403.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:44.045Z,1628817404.045 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:44.437Z,1628817404.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011644.71*5E

2021-08-13T01:16:44.459Z,1628817404.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 57.619933 deg, deltaT: 4.463064 s, approachRate: -0.430199 m/s, LOS rate: 3.220530 deg/s, posRepo size: 4
2021-08-13T01:16:44.462Z,1628817404.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 57.619933 deg,
      approachRate: -0.430199 m/s,
      LOS rate: 3.220530 deg/s,
      cmd update: 9.661591 deg/s,
      cmd heading: 299.148542 deg,
      new cmd heading: 299.452943 deg.

2021-08-13T01:16:46.866Z,1628817406.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:47.221Z,1628817407.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:47.221Z,1628817407.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:47.222Z,1628817407.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:47.222Z,1628817407.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:47.625Z,1628817407.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA7,000,00311,189,80,80,74,FF
2021-08-13T01:16:47.625Z,1628817407.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:47.625Z,1628817407.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:47.627Z,1628817407.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:48.028Z,1628817408.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:48.438Z,1628817408.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,00305,189,80,80,93,FF
2021-08-13T01:16:48.438Z,1628817408.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:48.458Z,1628817408.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:48.881Z,1628817408.881 [Micromodem](INFO): Nmea in: $SNTTA,0.036546,,,,011649.15*4D

2021-08-13T01:16:48.978Z,1628817408.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 22.191560 deg, deltaT: 4.413054 s, approachRate: -0.163152 m/s, LOS rate: -8.028086 deg/s, posRepo size: 4
2021-08-13T01:16:48.982Z,1628817408.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 22.191560 deg,
      approachRate: -0.163152 m/s,
      LOS rate: -8.028086 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 341.825442 deg,
      new cmd heading: 346.880976 deg.

2021-08-13T01:16:50.973Z,1628817410.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:51.257Z,1628817411.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:51.257Z,1628817411.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:51.257Z,1628817411.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:51.258Z,1628817411.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:51.661Z,1628817411.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,00305,189,80,80,93,FF
2021-08-13T01:16:51.661Z,1628817411.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:51.662Z,1628817411.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:51.668Z,1628817411.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:52.068Z,1628817412.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:52.481Z,1628817412.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,0030E,186,80,80,88,FF
2021-08-13T01:16:52.481Z,1628817412.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:52.549Z,1628817412.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:52.927Z,1628817412.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011653.19*56

2021-08-13T01:16:52.999Z,1628817412.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 356.625678 deg, deltaT: 4.091315 s, approachRate: 0.131987 m/s, LOS rate: -6.248817 deg/s, posRepo size: 4
2021-08-13T01:16:53.001Z,1628817413.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 356.625678 deg,
      approachRate: 0.131987 m/s,
      LOS rate: -6.248817 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 292.776808 deg,
      new cmd heading: 287.290084 deg.

2021-08-13T01:16:55.315Z,1628817415.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:16:55.729Z,1628817415.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:16:55.729Z,1628817415.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:16:55.729Z,1628817415.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:16:55.730Z,1628817415.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:16:56.105Z,1628817416.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,0030E,186,80,80,88,FF
2021-08-13T01:16:56.105Z,1628817416.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:16:56.105Z,1628817416.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:16:56.107Z,1628817416.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:16:56.521Z,1628817416.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:16:56.949Z,1628817416.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00323,186,80,80,72,FF
2021-08-13T01:16:56.950Z,1628817416.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:16:57.031Z,1628817417.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:16:57.357Z,1628817417.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011657.63*5F

2021-08-13T01:16:57.380Z,1628817417.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 348.135398 deg, deltaT: 4.486601 s, approachRate: 0.280836 m/s, LOS rate: -1.892364 deg/s, posRepo size: 4
2021-08-13T01:16:57.382Z,1628817417.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 348.135398 deg,
      approachRate: 0.280836 m/s,
      LOS rate: -1.892364 deg/s,
      cmd update: -5.677091 deg/s,
      cmd heading: 238.988714 deg,
      new cmd heading: 234.724466 deg.

2021-08-13T01:16:58.989Z,1628817418.989 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:16:59.794Z,1628817419.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:00.145Z,1628817420.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:00.145Z,1628817420.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:00.145Z,1628817420.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:00.146Z,1628817420.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:00.549Z,1628817420.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00323,186,80,80,72,FF
2021-08-13T01:17:00.549Z,1628817420.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:00.549Z,1628817420.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:00.551Z,1628817420.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:00.987Z,1628817420.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:01.354Z,1628817421.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00342,189,80,80,95,FF
2021-08-13T01:17:01.354Z,1628817421.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:01.379Z,1628817421.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:01.801Z,1628817421.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011702.08*53

2021-08-13T01:17:01.838Z,1628817421.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 276.276617 deg, deltaT: 4.343398 s, approachRate: 0.428236 m/s, LOS rate: -16.544369 deg/s, posRepo size: 4
2021-08-13T01:17:01.839Z,1628817421.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.544369 deg/s. Setting heading cmd to target bearing of 276.276617deg and heading rate command to 0 deg/s.
2021-08-13T01:17:04.226Z,1628817424.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:04.593Z,1628817424.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:04.593Z,1628817424.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:04.593Z,1628817424.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:04.594Z,1628817424.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:04.993Z,1628817424.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00342,189,80,80,95,FF
2021-08-13T01:17:04.993Z,1628817424.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:04.993Z,1628817424.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:04.995Z,1628817424.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:05.412Z,1628817425.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:05.813Z,1628817425.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,0037D,186,80,80,65,FF
2021-08-13T01:17:05.813Z,1628817425.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:05.891Z,1628817425.891 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:06.242Z,1628817426.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011706.52*58

2021-08-13T01:17:06.258Z,1628817426.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 310.551653 deg, deltaT: 4.511738 s, approachRate: 0.784619 m/s, LOS rate: 7.596859 deg/s, posRepo size: 4
2021-08-13T01:17:06.260Z,1628817426.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 310.551653 deg,
      approachRate: 0.784619 m/s,
      LOS rate: 7.596859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.276617 deg,
      new cmd heading: 276.276617 deg.

2021-08-13T01:17:08.708Z,1628817428.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:09.037Z,1628817429.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:09.037Z,1628817429.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:09.037Z,1628817429.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:09.038Z,1628817429.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:09.449Z,1628817429.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,0037D,186,80,80,65,FF
2021-08-13T01:17:09.449Z,1628817429.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:09.449Z,1628817429.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:09.451Z,1628817429.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:09.850Z,1628817429.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:10.261Z,1628817430.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,0039C,185,80,80,72,FF
2021-08-13T01:17:10.261Z,1628817430.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:10.305Z,1628817430.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:10.702Z,1628817430.702 [Micromodem](INFO): Nmea in: $SNTTA,0.034884,,,,011710.98*44

2021-08-13T01:17:10.733Z,1628817430.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 278.552572 deg, deltaT: 4.414150 s, approachRate: 0.421372 m/s, LOS rate: -7.249206 deg/s, posRepo size: 4
2021-08-13T01:17:10.734Z,1628817430.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.94 m. Rolling out.
2021-08-13T01:17:10.734Z,1628817430.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T01:17:13.138Z,1628817433.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:13.481Z,1628817433.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:13.481Z,1628817433.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:13.481Z,1628817433.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:13.482Z,1628817433.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:13.897Z,1628817433.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,0039C,185,80,80,72,FF
2021-08-13T01:17:13.897Z,1628817433.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:13.897Z,1628817433.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:13.899Z,1628817433.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:14.296Z,1628817434.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:14.729Z,1628817434.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,003B8,186,80,80,40,FF
2021-08-13T01:17:14.729Z,1628817434.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:14.783Z,1628817434.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:15.133Z,1628817435.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011715.43*5A

2021-08-13T01:17:15.179Z,1628817435.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 282.626015 deg, deltaT: 4.478311 s, approachRate: 0.375142 m/s, LOS rate: 0.909594 deg/s, posRepo size: 4
2021-08-13T01:17:17.584Z,1628817437.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:17.929Z,1628817437.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:17.929Z,1628817437.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:17.929Z,1628817437.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:17.930Z,1628817437.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:18.341Z,1628817438.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,003B8,186,80,80,40,FF
2021-08-13T01:17:18.341Z,1628817438.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:18.341Z,1628817438.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:18.343Z,1628817438.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:18.753Z,1628817438.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:19.153Z,1628817439.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003ED,187,80,80,34,FF
2021-08-13T01:17:19.154Z,1628817439.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:19.213Z,1628817439.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:19.585Z,1628817439.585 [Micromodem](INFO): Nmea in: $SNTTA,0.026278,,,,011719.87*49

2021-08-13T01:17:19.608Z,1628817439.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 282.613229 deg, deltaT: 4.430327 s, approachRate: 0.717780 m/s, LOS rate: -0.002886 deg/s, posRepo size: 4
2021-08-13T01:17:21.998Z,1628817441.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:22.383Z,1628817442.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:22.383Z,1628817442.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:22.383Z,1628817442.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:22.384Z,1628817442.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:22.773Z,1628817442.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,003ED,187,80,80,34,FF
2021-08-13T01:17:22.773Z,1628817442.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:22.773Z,1628817442.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:22.775Z,1628817442.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:23.276Z,1628817443.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:23.697Z,1628817443.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8D,000,00410,188,80,80,66,FF
2021-08-13T01:17:23.698Z,1628817443.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:23.748Z,1628817443.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:24.093Z,1628817444.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011724.30*5C

2021-08-13T01:17:24.125Z,1628817444.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 335.385675 deg, deltaT: 4.534759 s, approachRate: 0.463090 m/s, LOS rate: 11.637321 deg/s, posRepo size: 4
2021-08-13T01:17:26.534Z,1628817446.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:26.954Z,1628817446.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:26.954Z,1628817446.954 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:26.955Z,1628817446.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:26.955Z,1628817446.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:27.313Z,1628817447.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8D,000,00410,188,80,80,66,FF
2021-08-13T01:17:27.313Z,1628817447.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:27.313Z,1628817447.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:27.315Z,1628817447.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:27.737Z,1628817447.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:28.117Z,1628817448.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00440,187,80,80,96,FF
2021-08-13T01:17:28.118Z,1628817448.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:28.137Z,1628817448.137 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:28.566Z,1628817448.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011728.84*5F

2021-08-13T01:17:28.587Z,1628817448.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 338.606273 deg, deltaT: 4.389184 s, approachRate: 0.656158 m/s, LOS rate: 0.733758 deg/s, posRepo size: 4
2021-08-13T01:17:31.046Z,1628817451.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:31.361Z,1628817451.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:31.361Z,1628817451.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:31.361Z,1628817451.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:31.362Z,1628817451.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:31.757Z,1628817451.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00440,187,80,80,96,FF
2021-08-13T01:17:31.757Z,1628817451.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:31.757Z,1628817451.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:31.759Z,1628817451.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:32.173Z,1628817452.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:32.575Z,1628817452.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00454,185,80,80,7C,FF
2021-08-13T01:17:32.575Z,1628817452.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:32.619Z,1628817452.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:33.009Z,1628817453.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011733.28*53

2021-08-13T01:17:33.083Z,1628817453.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 358.848522 deg, deltaT: 4.486157 s, approachRate: 0.267489 m/s, LOS rate: 4.512158 deg/s, posRepo size: 4
2021-08-13T01:17:35.440Z,1628817455.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:35.809Z,1628817455.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:35.809Z,1628817455.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:35.809Z,1628817455.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:35.810Z,1628817455.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:36.213Z,1628817456.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00454,185,80,80,7C,FF
2021-08-13T01:17:36.213Z,1628817456.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:36.213Z,1628817456.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:36.215Z,1628817456.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:36.602Z,1628817456.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:37.019Z,1628817457.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,0047E,186,80,80,8C,FF
2021-08-13T01:17:37.019Z,1628817457.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:37.109Z,1628817457.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:37.441Z,1628817457.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011737.74*5E

2021-08-13T01:17:37.460Z,1628817457.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 353.897755 deg, deltaT: 4.485282 s, approachRate: 0.561838 m/s, LOS rate: -1.103781 deg/s, posRepo size: 4
2021-08-13T01:17:39.910Z,1628817459.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:40.246Z,1628817460.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:40.246Z,1628817460.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:40.246Z,1628817460.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:40.247Z,1628817460.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:40.662Z,1628817460.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,0047E,186,80,80,8C,FF
2021-08-13T01:17:40.662Z,1628817460.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:40.663Z,1628817460.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:40.669Z,1628817460.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:41.067Z,1628817461.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:41.457Z,1628817461.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,0049A,186,80,80,90,FF
2021-08-13T01:17:41.457Z,1628817461.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:41.535Z,1628817461.535 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:41.891Z,1628817461.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011742.20*5D

2021-08-13T01:17:41.943Z,1628817461.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 347.845388 deg, deltaT: 4.426105 s, approachRate: 0.379566 m/s, LOS rate: -1.367425 deg/s, posRepo size: 4
2021-08-13T01:17:42.714Z,1628817462.714 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:17:44.340Z,1628817464.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:44.707Z,1628817464.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:44.707Z,1628817464.707 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:44.707Z,1628817464.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:44.708Z,1628817464.708 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:45.091Z,1628817465.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,0049A,186,80,80,90,FF
2021-08-13T01:17:45.092Z,1628817465.092 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:45.092Z,1628817465.092 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:45.112Z,1628817465.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:45.501Z,1628817465.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:45.907Z,1628817465.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,004C6,186,80,80,7F,FF
2021-08-13T01:17:45.908Z,1628817465.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:45.986Z,1628817465.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:46.327Z,1628817466.327 [Micromodem](INFO): Nmea in: $SNTTA,0.040919,,,,011746.64*42

2021-08-13T01:17:46.348Z,1628817466.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 348.733504 deg, deltaT: 4.451180 s, approachRate: 0.593101 m/s, LOS rate: 0.199524 deg/s, posRepo size: 4
2021-08-13T01:17:48.793Z,1628817468.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:49.129Z,1628817469.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:49.129Z,1628817469.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:49.129Z,1628817469.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:49.130Z,1628817469.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:49.533Z,1628817469.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,004C6,186,80,80,7F,FF
2021-08-13T01:17:49.533Z,1628817469.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:49.533Z,1628817469.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:49.535Z,1628817469.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:49.941Z,1628817469.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:50.345Z,1628817470.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,004ED,187,80,80,47,FF
2021-08-13T01:17:50.345Z,1628817470.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:50.366Z,1628817470.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:50.838Z,1628817470.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011751.06*5B

2021-08-13T01:17:50.948Z,1628817470.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 345.864906 deg, deltaT: 4.379952 s, approachRate: 0.534252 m/s, LOS rate: -0.654938 deg/s, posRepo size: 4
2021-08-13T01:17:53.217Z,1628817473.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:53.577Z,1628817473.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:53.577Z,1628817473.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:53.577Z,1628817473.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:53.578Z,1628817473.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:53.977Z,1628817473.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,004ED,187,80,80,47,FF
2021-08-13T01:17:53.977Z,1628817473.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:53.977Z,1628817473.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:53.979Z,1628817473.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:54.399Z,1628817474.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:54.785Z,1628817474.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,0051D,184,80,80,77,FF
2021-08-13T01:17:54.785Z,1628817474.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:54.845Z,1628817474.845 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:17:55.229Z,1628817475.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011755.51*5D

2021-08-13T01:17:55.293Z,1628817475.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 336.129073 deg, deltaT: 4.478825 s, approachRate: 0.643026 m/s, LOS rate: -2.173747 deg/s, posRepo size: 4
2021-08-13T01:17:55.617Z,1628817475.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:17:55.617Z,1628817475.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:17:55.618Z,1628817475.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:17:55.618Z,1628817475.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:17:55.618Z,1628817475.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:17:55.618Z,1628817475.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:17:56.037Z,1628817476.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:17:56.037Z,1628817476.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:17:56.037Z,1628817476.037 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:17:56.038Z,1628817476.038 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:17:57.705Z,1628817477.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:17:58.017Z,1628817478.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:17:58.017Z,1628817478.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:17:58.017Z,1628817478.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:17:58.018Z,1628817478.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:17:58.421Z,1628817478.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,0051D,184,80,80,77,FF
2021-08-13T01:17:58.421Z,1628817478.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:17:58.421Z,1628817478.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:17:58.423Z,1628817478.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:17:58.829Z,1628817478.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:17:59.237Z,1628817479.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00543,186,80,80,3C,FF
2021-08-13T01:17:59.237Z,1628817479.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:17:59.672Z,1628817479.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011759.95*59

2021-08-13T01:17:59.725Z,1628817479.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 318.588464 deg, deltaT: 4.454244 s, approachRate: 0.511871 m/s, LOS rate: -3.937954 deg/s, posRepo size: 4
2021-08-13T01:18:02.094Z,1628817482.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:02.465Z,1628817482.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:02.465Z,1628817482.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:02.465Z,1628817482.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:02.466Z,1628817482.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:02.874Z,1628817482.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00543,186,80,80,3C,FF
2021-08-13T01:18:02.875Z,1628817482.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:02.875Z,1628817482.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:02.890Z,1628817482.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:03.277Z,1628817483.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:03.717Z,1628817483.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0056D,188,80,80,84,FF
2021-08-13T01:18:03.717Z,1628817483.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:04.101Z,1628817484.101 [Micromodem](INFO): Nmea in: $SNTTA,0.041558,,,,011804.42*47

2021-08-13T01:18:04.131Z,1628817484.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 308.038909 deg, deltaT: 4.498074 s, approachRate: 0.560241 m/s, LOS rate: -2.345349 deg/s, posRepo size: 4
2021-08-13T01:18:06.033Z,1628817486.033 [CTD_Seabird](ERROR): Failed to parse device response: 9,4.75281,4815.07
2021-08-13T01:18:06.544Z,1628817486.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:06.949Z,1628817486.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:06.949Z,1628817486.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:06.949Z,1628817486.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:06.950Z,1628817486.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:07.309Z,1628817487.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0056D,188,80,80,84,FF
2021-08-13T01:18:07.309Z,1628817487.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:07.309Z,1628817487.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:07.311Z,1628817487.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:07.737Z,1628817487.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:08.117Z,1628817488.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0059C,187,80,80,58,FF
2021-08-13T01:18:08.117Z,1628817488.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:08.565Z,1628817488.565 [Micromodem](INFO): Nmea in: $SNTTA,0.042844,,,,011808.84*42

2021-08-13T01:18:08.581Z,1628817488.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 319.920214 deg, deltaT: 4.339590 s, approachRate: 0.649831 m/s, LOS rate: 2.737887 deg/s, posRepo size: 4
2021-08-13T01:18:11.048Z,1628817491.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:11.349Z,1628817491.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:11.349Z,1628817491.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:11.349Z,1628817491.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:11.350Z,1628817491.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:11.761Z,1628817491.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0059C,187,80,80,58,FF
2021-08-13T01:18:11.761Z,1628817491.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:11.762Z,1628817491.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:11.763Z,1628817491.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:12.161Z,1628817492.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:12.565Z,1628817492.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,005CA,189,80,80,99,FF
2021-08-13T01:18:12.566Z,1628817492.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:13.018Z,1628817493.018 [Micromodem](INFO): Nmea in: $SNTTA,0.060612,,,,011813.29*42

2021-08-13T01:18:13.103Z,1628817493.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 301.061406 deg, deltaT: 4.494015 s, approachRate: 0.614151 m/s, LOS rate: -4.196428 deg/s, posRepo size: 4
2021-08-13T01:18:15.431Z,1628817495.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:15.797Z,1628817495.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:15.797Z,1628817495.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:15.797Z,1628817495.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:15.798Z,1628817495.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:16.201Z,1628817496.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,005CA,189,80,80,99,FF
2021-08-13T01:18:16.202Z,1628817496.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:16.202Z,1628817496.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:16.203Z,1628817496.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:16.609Z,1628817496.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:17.009Z,1628817497.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,005F4,189,80,80,60,FF
2021-08-13T01:18:17.009Z,1628817497.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:17.453Z,1628817497.453 [Micromodem](INFO): Nmea in: $SNTTA,0.190614,,,,011817.73*41

2021-08-13T01:18:17.476Z,1628817497.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 295.893412 deg, deltaT: 4.472309 s, approachRate: 0.563466 m/s, LOS rate: -1.155554 deg/s, posRepo size: 4
2021-08-13T01:18:19.888Z,1628817499.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:20.244Z,1628817500.244 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:20.244Z,1628817500.244 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:20.245Z,1628817500.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:20.245Z,1628817500.245 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:20.644Z,1628817500.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,005F4,189,80,80,60,FF
2021-08-13T01:18:20.644Z,1628817500.644 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:20.645Z,1628817500.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:20.646Z,1628817500.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:21.057Z,1628817501.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:21.453Z,1628817501.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00624,186,80,80,84,FF
2021-08-13T01:18:21.453Z,1628817501.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:21.897Z,1628817501.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011822.17*50

2021-08-13T01:18:21.923Z,1628817501.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 350.450149 deg, deltaT: 4.401915 s, approachRate: 0.654263 m/s, LOS rate: 12.393864 deg/s, posRepo size: 4
2021-08-13T01:18:24.299Z,1628817504.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:24.701Z,1628817504.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:24.701Z,1628817504.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:24.701Z,1628817504.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:24.702Z,1628817504.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:25.089Z,1628817505.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00624,186,80,80,84,FF
2021-08-13T01:18:25.090Z,1628817505.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:25.090Z,1628817505.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:25.092Z,1628817505.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:25.501Z,1628817505.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:25.906Z,1628817505.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00653,185,80,80,A0,FF
2021-08-13T01:18:25.906Z,1628817505.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:26.337Z,1628817506.337 [Micromodem](INFO): Nmea in: $SNTTA,0.059365,,,,011826.62*44

2021-08-13T01:18:26.377Z,1628817506.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 348.362433 deg, deltaT: 4.451008 s, approachRate: 0.633564 m/s, LOS rate: -0.469043 deg/s, posRepo size: 4
2021-08-13T01:18:28.784Z,1628817508.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:29.141Z,1628817509.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:29.141Z,1628817509.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:29.141Z,1628817509.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:29.142Z,1628817509.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:29.533Z,1628817509.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00653,185,80,80,A0,FF
2021-08-13T01:18:29.533Z,1628817509.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:29.534Z,1628817509.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:29.535Z,1628817509.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:29.950Z,1628817509.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:30.349Z,1628817510.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00686,186,80,80,66,FF
2021-08-13T01:18:30.349Z,1628817510.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:30.805Z,1628817510.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 357.095294 deg, deltaT: 4.413570 s, approachRate: 0.693316 m/s, LOS rate: 1.978639 deg/s, posRepo size: 4
2021-08-13T01:18:33.239Z,1628817513.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:33.585Z,1628817513.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:33.585Z,1628817513.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:33.585Z,1628817513.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:33.586Z,1628817513.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:33.993Z,1628817513.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00686,186,80,80,66,FF
2021-08-13T01:18:33.993Z,1628817513.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:33.993Z,1628817513.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:33.995Z,1628817513.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:34.388Z,1628817514.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:34.797Z,1628817514.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,006AC,186,80,80,86,FF
2021-08-13T01:18:34.797Z,1628817514.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:35.250Z,1628817515.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011835.52*57

2021-08-13T01:18:35.285Z,1628817515.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 353.893766 deg, deltaT: 4.512350 s, approachRate: 0.505281 m/s, LOS rate: -0.709504 deg/s, posRepo size: 4
2021-08-13T01:18:37.698Z,1628817517.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:38.030Z,1628817518.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:38.030Z,1628817518.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:38.030Z,1628817518.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:38.031Z,1628817518.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:38.425Z,1628817518.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,006AC,186,80,80,86,FF
2021-08-13T01:18:38.425Z,1628817518.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:38.425Z,1628817518.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:38.427Z,1628817518.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:38.871Z,1628817518.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:39.669Z,1628817519.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011839.96*53

2021-08-13T01:18:40.489Z,1628817520.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:42.061Z,1628817522.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,86,FF
2021-08-13T01:18:42.061Z,1628817522.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,86,FF
2021-08-13T01:18:42.062Z,1628817522.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:18:43.296Z,1628817523.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:43.705Z,1628817523.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:43.705Z,1628817523.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:43.705Z,1628817523.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:43.705Z,1628817523.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:44.086Z,1628817524.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,86,FF
2021-08-13T01:18:44.086Z,1628817524.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:44.086Z,1628817524.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:44.088Z,1628817524.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:44.503Z,1628817524.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:44.898Z,1628817524.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00720,186,80,80,8A,FF
2021-08-13T01:18:44.898Z,1628817524.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:45.346Z,1628817525.346 [Micromodem](INFO): Nmea in: $SNTTA,0.052505,,,,011845.61*49

2021-08-13T01:18:45.391Z,1628817525.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 351.300453 deg, deltaT: 10.078844 s, approachRate: 0.690555 m/s, LOS rate: -0.257303 deg/s, posRepo size: 4
2021-08-13T01:18:47.795Z,1628817527.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:48.121Z,1628817528.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:48.121Z,1628817528.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:48.121Z,1628817528.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:48.122Z,1628817528.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:48.525Z,1628817528.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00720,186,80,80,8A,FF
2021-08-13T01:18:48.525Z,1628817528.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:48.526Z,1628817528.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:48.527Z,1628817528.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:48.932Z,1628817528.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:49.342Z,1628817529.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,00747,185,80,80,8D,FF
2021-08-13T01:18:49.342Z,1628817529.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:49.781Z,1628817529.781 [Micromodem](INFO): Nmea in: $SNTTA,0.054747,,,,011850.05*4D

2021-08-13T01:18:49.853Z,1628817529.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 348.480978 deg, deltaT: 4.407814 s, approachRate: 0.530876 m/s, LOS rate: -0.639654 deg/s, posRepo size: 4
2021-08-13T01:18:52.214Z,1628817532.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:52.573Z,1628817532.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:52.573Z,1628817532.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:52.573Z,1628817532.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:52.574Z,1628817532.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:52.974Z,1628817532.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,00747,185,80,80,8D,FF
2021-08-13T01:18:52.974Z,1628817532.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:52.975Z,1628817532.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:52.976Z,1628817532.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:53.385Z,1628817533.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:53.781Z,1628817533.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,0077D,186,80,80,66,FF
2021-08-13T01:18:53.782Z,1628817533.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:54.225Z,1628817534.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011854.51*53

2021-08-13T01:18:54.319Z,1628817534.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.519997 m, bearing: 352.147697 deg, deltaT: 4.448112 s, approachRate: 0.728398 m/s, LOS rate: 0.824331 deg/s, posRepo size: 4
2021-08-13T01:18:56.635Z,1628817536.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:18:57.009Z,1628817537.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:18:57.009Z,1628817537.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:18:57.009Z,1628817537.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:18:57.010Z,1628817537.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:18:57.413Z,1628817537.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,0077D,186,80,80,66,FF
2021-08-13T01:18:57.413Z,1628817537.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:18:57.414Z,1628817537.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:18:57.415Z,1628817537.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:18:57.821Z,1628817537.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:18:58.217Z,1628817538.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,007AB,186,80,80,69,FF
2021-08-13T01:18:58.218Z,1628817538.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:18:58.689Z,1628817538.689 [Micromodem](INFO): Nmea in: $SNTTA,0.069398,,,,011858.94*45

2021-08-13T01:18:58.737Z,1628817538.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 351.946425 deg, deltaT: 4.467805 s, approachRate: 0.617754 m/s, LOS rate: -0.045049 deg/s, posRepo size: 4
2021-08-13T01:19:01.093Z,1628817541.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:01.457Z,1628817541.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:01.457Z,1628817541.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:01.457Z,1628817541.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:01.458Z,1628817541.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:01.866Z,1628817541.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,007AB,186,80,80,69,FF
2021-08-13T01:19:01.866Z,1628817541.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:01.866Z,1628817541.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:01.870Z,1628817541.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:02.283Z,1628817542.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:02.721Z,1628817542.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,007D8,186,80,80,86,FF
2021-08-13T01:19:02.721Z,1628817542.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:03.102Z,1628817543.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011903.40*50

2021-08-13T01:19:03.117Z,1628817543.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.980003 m, bearing: 349.078346 deg, deltaT: 4.485663 s, approachRate: 0.601919 m/s, LOS rate: -0.639388 deg/s, posRepo size: 4
2021-08-13T01:19:05.521Z,1628817545.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:05.928Z,1628817545.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:05.928Z,1628817545.928 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:05.929Z,1628817545.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:05.931Z,1628817545.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:06.309Z,1628817546.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,007D8,186,80,80,86,FF
2021-08-13T01:19:06.309Z,1628817546.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:06.309Z,1628817546.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:06.311Z,1628817546.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:06.792Z,1628817546.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:07.185Z,1628817547.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,00807,185,80,80,78,FF
2021-08-13T01:19:07.185Z,1628817547.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:07.601Z,1628817547.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011907.84*5C

2021-08-13T01:19:07.698Z,1628817547.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 350.098257 deg, deltaT: 4.478893 s, approachRate: 0.629620 m/s, LOS rate: 0.227715 deg/s, posRepo size: 4
2021-08-13T01:19:10.093Z,1628817550.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:10.417Z,1628817550.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:10.417Z,1628817550.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:10.417Z,1628817550.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:10.418Z,1628817550.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:10.821Z,1628817550.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,00807,185,80,80,78,FF
2021-08-13T01:19:10.821Z,1628817550.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:10.821Z,1628817550.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:10.823Z,1628817550.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:11.306Z,1628817551.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:11.638Z,1628817551.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,0083D,187,80,80,64,FF
2021-08-13T01:19:11.638Z,1628817551.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:12.069Z,1628817552.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011912.35*52

2021-08-13T01:19:12.143Z,1628817552.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.040009 m, bearing: 359.112085 deg, deltaT: 4.428388 s, approachRate: 0.731644 m/s, LOS rate: 2.035465 deg/s, posRepo size: 4
2021-08-13T01:19:14.479Z,1628817554.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:14.862Z,1628817554.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:14.862Z,1628817554.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:14.862Z,1628817554.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:14.863Z,1628817554.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:15.265Z,1628817555.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,0083D,187,80,80,64,FF
2021-08-13T01:19:15.265Z,1628817555.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:15.265Z,1628817555.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:15.267Z,1628817555.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:15.701Z,1628817555.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:16.077Z,1628817556.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,0086B,185,80,80,94,FF
2021-08-13T01:19:16.077Z,1628817556.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:16.521Z,1628817556.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011916.80*58

2021-08-13T01:19:16.544Z,1628817556.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.800003 m, bearing: 352.925874 deg, deltaT: 4.478451 s, approachRate: 0.616283 m/s, LOS rate: -1.381328 deg/s, posRepo size: 4
2021-08-13T01:19:18.937Z,1628817558.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:19.305Z,1628817559.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:19.305Z,1628817559.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:19.305Z,1628817559.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:19.306Z,1628817559.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:19.730Z,1628817559.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,0086B,185,80,80,94,FF
2021-08-13T01:19:19.730Z,1628817559.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:19.731Z,1628817559.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:19.733Z,1628817559.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:20.121Z,1628817560.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:20.521Z,1628817560.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00899,187,80,80,88,FF
2021-08-13T01:19:20.521Z,1628817560.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:20.954Z,1628817560.954 [Micromodem](INFO): Nmea in: $SNTTA,0.065590,,,,011921.26*41

2021-08-13T01:19:20.986Z,1628817560.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.560005 m, bearing: 354.756774 deg, deltaT: 4.418661 s, approachRate: 0.624624 m/s, LOS rate: 0.414356 deg/s, posRepo size: 4
2021-08-13T01:19:23.399Z,1628817563.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:23.745Z,1628817563.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:23.745Z,1628817563.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:23.745Z,1628817563.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:23.746Z,1628817563.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:23.784Z,1628817563.784 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T01:19:24.149Z,1628817564.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,00899,187,80,80,88,FF
2021-08-13T01:19:24.150Z,1628817564.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:24.150Z,1628817564.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:24.151Z,1628817564.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:24.573Z,1628817564.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:24.977Z,1628817564.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,008CA,185,80,80,5B,FF
2021-08-13T01:19:24.977Z,1628817564.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:25.409Z,1628817565.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011925.68*5E

2021-08-13T01:19:25.452Z,1628817565.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.500008 m, bearing: 356.747392 deg, deltaT: 4.431840 s, approachRate: 0.663382 m/s, LOS rate: 0.449163 deg/s, posRepo size: 4
2021-08-13T01:19:27.801Z,1628817567.801 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T01:19:27.817Z,1628817567.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:28.206Z,1628817568.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:28.206Z,1628817568.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:28.206Z,1628817568.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:28.207Z,1628817568.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:28.605Z,1628817568.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,008CA,185,80,80,5B,FF
2021-08-13T01:19:28.605Z,1628817568.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:28.605Z,1628817568.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:28.607Z,1628817568.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:29.009Z,1628817569.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:29.406Z,1628817569.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00277,186,80,80,65,FF
2021-08-13T01:19:29.407Z,1628817569.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:29.854Z,1628817569.854 [Micromodem](INFO): Nmea in: $SNTTA,0.077068,,,,011930.13*46

2021-08-13T01:19:29.960Z,1628817569.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 0.360000 m, bearing: 356.904705 deg, deltaT: 4.460403 s, approachRate: -21.778303 m/s, LOS rate: 0.035269 deg/s, posRepo size: 4
2021-08-13T01:19:30.265Z,1628817570.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:19:30.265Z,1628817570.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:19:30.265Z,1628817570.265 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:19:30.266Z,1628817570.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:19:30.266Z,1628817570.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:19:30.266Z,1628817570.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:19:30.649Z,1628817570.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:19:30.649Z,1628817570.649 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:19:30.650Z,1628817570.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:19:30.650Z,1628817570.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:19:32.274Z,1628817572.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:32.639Z,1628817572.639 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:32.671Z,1628817572.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:32.696Z,1628817572.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:32.697Z,1628817572.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:33.049Z,1628817573.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00277,186,80,80,65,FF
2021-08-13T01:19:33.049Z,1628817573.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:33.049Z,1628817573.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:33.051Z,1628817573.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:33.453Z,1628817573.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:34.270Z,1628817574.270 [Micromodem](INFO): Nmea in: $SNTTA,0.083828,,,,011934.58*4A

2021-08-13T01:19:35.113Z,1628817575.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:36.689Z,1628817576.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:36.690Z,1628817576.690 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:36.690Z,1628817576.690 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:19:37.944Z,1628817577.944 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:19:37.999Z,1628817577.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:38.289Z,1628817578.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:38.289Z,1628817578.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:38.289Z,1628817578.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:38.290Z,1628817578.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:38.721Z,1628817578.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:38.721Z,1628817578.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:38.721Z,1628817578.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:38.723Z,1628817578.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:39.105Z,1628817579.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:39.942Z,1628817579.942 [Micromodem](INFO): Nmea in: $SNTTA,0.080127,,,,011940.25*46

2021-08-13T01:19:40.769Z,1628817580.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:42.337Z,1628817582.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:42.337Z,1628817582.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:42.338Z,1628817582.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:19:42.765Z,1628817582.765 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:19:43.567Z,1628817583.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:44.001Z,1628817584.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:44.001Z,1628817584.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:44.002Z,1628817584.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:44.003Z,1628817584.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:44.354Z,1628817584.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,65,FF
2021-08-13T01:19:44.354Z,1628817584.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:44.354Z,1628817584.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:44.356Z,1628817584.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:44.776Z,1628817584.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:45.169Z,1628817585.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,009A4,186,80,80,72,FF
2021-08-13T01:19:45.170Z,1628817585.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:45.189Z,1628817585.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:19:45.606Z,1628817585.606 [Micromodem](INFO): Nmea in: $SNTTA,0.081221,,,,011945.88*40

2021-08-13T01:19:45.607Z,1628817585.607 [Micromodem](INFO): Nmea in: $CARECOPROC,0.20.0.39330*70

2021-08-13T01:19:45.608Z,1628817585.608 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CARECOPROC,0.20.0.39330*70
 expected 2D
2021-08-13T01:19:45.622Z,1628817585.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.580002 m, bearing: 353.497479 deg, deltaT: 15.722555 s, approachRate: 7.010311 m/s, LOS rate: -0.216709 deg/s, posRepo size: 4
2021-08-13T01:19:46.067Z,1628817586.067 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:19:46.085Z,1628817586.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:19:46.086Z,1628817586.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:19:46.086Z,1628817586.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:19:46.087Z,1628817586.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:19:46.087Z,1628817586.087 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:19:46.407Z,1628817586.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:19:46.407Z,1628817586.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:19:46.407Z,1628817586.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:19:46.407Z,1628817586.407 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:19:48.055Z,1628817588.055 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:19:48.071Z,1628817588.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:48.397Z,1628817588.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:48.398Z,1628817588.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:48.398Z,1628817588.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:48.399Z,1628817588.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:48.813Z,1628817588.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,009A4,186,80,80,72,FF
2021-08-13T01:19:48.813Z,1628817588.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:48.813Z,1628817588.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:48.815Z,1628817588.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:49.205Z,1628817589.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:50.046Z,1628817590.046 [Micromodem](INFO): Nmea in: $SNTTA,0.084014,,,,011950.34*42

2021-08-13T01:19:50.849Z,1628817590.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:52.439Z,1628817592.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,72,FF
2021-08-13T01:19:52.439Z,1628817592.439 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,72,FF
2021-08-13T01:19:52.439Z,1628817592.439 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:19:53.714Z,1628817593.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:54.055Z,1628817594.055 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:19:54.055Z,1628817594.055 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:19:54.055Z,1628817594.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:19:54.056Z,1628817594.056 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:19:54.127Z,1628817594.127 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T01:19:54.454Z,1628817594.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,72,FF
2021-08-13T01:19:54.454Z,1628817594.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:19:54.454Z,1628817594.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:19:54.479Z,1628817594.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:19:54.871Z,1628817594.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:19:55.671Z,1628817595.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,011956.01*55

2021-08-13T01:19:56.515Z,1628817596.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:19:56.907Z,1628817596.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0584F,186,80,80,77,FF
2021-08-13T01:19:56.908Z,1628817596.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:19:57.334Z,1628817597.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1318.920044 m, bearing: 345.330840 deg, deltaT: 11.786909 s, approachRate: 102.515434 m/s, LOS rate: -0.692857 deg/s, posRepo size: 4
2021-08-13T01:19:57.334Z,1628817597.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1318.92 m. Resuming terminal guidance.
2021-08-13T01:19:57.335Z,1628817597.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:19:58.957Z,1628817598.957 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:19:59.783Z,1628817599.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:00.135Z,1628817600.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:00.135Z,1628817600.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:00.135Z,1628817600.135 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:00.137Z,1628817600.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:00.546Z,1628817600.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0584F,186,80,80,77,FF
2021-08-13T01:20:00.546Z,1628817600.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:00.546Z,1628817600.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:00.549Z,1628817600.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:00.945Z,1628817600.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:01.341Z,1628817601.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,0066C,186,80,80,84,FF
2021-08-13T01:20:01.341Z,1628817601.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:01.790Z,1628817601.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012002.08*57

2021-08-13T01:20:01.843Z,1628817601.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 343.223781 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:20:01.845Z,1628817601.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 343.223781deg and heading rate command to 0 deg/s.
2021-08-13T01:20:02.983Z,1628817602.983 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:20:04.243Z,1628817604.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:04.584Z,1628817604.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:04.585Z,1628817604.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:04.585Z,1628817604.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:04.586Z,1628817604.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:04.977Z,1628817604.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,0066C,186,80,80,84,FF
2021-08-13T01:20:04.977Z,1628817604.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:04.977Z,1628817604.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:04.979Z,1628817604.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:05.393Z,1628817605.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:05.793Z,1628817605.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00A7D,186,80,80,97,FF
2021-08-13T01:20:05.793Z,1628817605.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:06.201Z,1628817606.201 [Micromodem](INFO): Nmea in: $SNTTA,0.418523,0.418904,,,012006.51*56

2021-08-13T01:20:06.248Z,1628817606.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 352.136523 deg, deltaT: 4.537199 s, approachRate: 13.766203 m/s, LOS rate: 1.964371 deg/s, posRepo size: 2
2021-08-13T01:20:06.250Z,1628817606.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.600006 m,
      bearing: 352.136523 deg,
      approachRate: 13.766203 m/s,
      LOS rate: 1.964371 deg/s,
      cmd update: 5.893112 deg/s,
      cmd heading: 343.223781 deg,
      new cmd heading: 343.223781 deg.

2021-08-13T01:20:08.631Z,1628817608.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:09.025Z,1628817609.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:09.026Z,1628817609.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:09.026Z,1628817609.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:09.027Z,1628817609.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:09.433Z,1628817609.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00A7D,186,80,80,97,FF
2021-08-13T01:20:09.433Z,1628817609.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:09.433Z,1628817609.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:09.435Z,1628817609.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:09.837Z,1628817609.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:10.233Z,1628817610.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00AAA,189,80,80,83,FF
2021-08-13T01:20:10.233Z,1628817610.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:10.678Z,1628817610.678 [Micromodem](INFO): Nmea in: $SNTTA,0.103408,,,,012010.96*43

2021-08-13T01:20:10.741Z,1628817610.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 317.519512 deg, deltaT: 4.411872 s, approachRate: 0.611984 m/s, LOS rate: -7.846332 deg/s, posRepo size: 3
2021-08-13T01:20:10.745Z,1628817610.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.300003 m,
      bearing: 317.519512 deg,
      approachRate: 0.611984 m/s,
      LOS rate: -7.846332 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 9.274466 deg,
      new cmd heading: 11.843862 deg.

2021-08-13T01:20:13.082Z,1628817613.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:13.457Z,1628817613.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:13.457Z,1628817613.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:13.457Z,1628817613.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:13.458Z,1628817613.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:13.879Z,1628817613.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00AAA,189,80,80,83,FF
2021-08-13T01:20:13.880Z,1628817613.880 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:13.880Z,1628817613.880 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:13.882Z,1628817613.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:14.266Z,1628817614.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:14.745Z,1628817614.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00AD9,186,80,80,9B,FF
2021-08-13T01:20:14.746Z,1628817614.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:15.113Z,1628817615.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012015.41*5C

2021-08-13T01:20:15.135Z,1628817615.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.119995 m, bearing: 20.881123 deg, deltaT: 4.556575 s, approachRate: 0.618884 m/s, LOS rate: 13.905533 deg/s, posRepo size: 4
2021-08-13T01:20:15.136Z,1628817615.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.905533 deg/s. Setting heading cmd to target bearing of 20.881123deg and heading rate command to 0 deg/s.
2021-08-13T01:20:17.519Z,1628817617.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:17.944Z,1628817617.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:17.945Z,1628817617.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:17.945Z,1628817617.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:17.947Z,1628817617.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:18.038Z,1628817618.038 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:20:18.309Z,1628817618.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00AD9,186,80,80,9B,FF
2021-08-13T01:20:18.309Z,1628817618.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:18.309Z,1628817618.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:18.311Z,1628817618.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:18.737Z,1628817618.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:19.129Z,1628817619.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00AF5,186,80,80,69,FF
2021-08-13T01:20:19.130Z,1628817619.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:19.561Z,1628817619.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012019.84*59

2021-08-13T01:20:19.588Z,1628817619.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 27.795735 deg, deltaT: 4.282544 s, approachRate: 0.392292 m/s, LOS rate: 1.614604 deg/s, posRepo size: 4
2021-08-13T01:20:19.590Z,1628817619.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.800003 m,
      bearing: 27.795735 deg,
      approachRate: 0.392292 m/s,
      LOS rate: 1.614604 deg/s,
      cmd update: 4.843812 deg/s,
      cmd heading: 20.881123 deg,
      new cmd heading: 20.881123 deg.

2021-08-13T01:20:22.058Z,1628817622.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:22.353Z,1628817622.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:22.354Z,1628817622.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:22.354Z,1628817622.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:22.355Z,1628817622.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:22.765Z,1628817622.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00AF5,186,80,80,69,FF
2021-08-13T01:20:22.765Z,1628817622.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:22.765Z,1628817622.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:22.767Z,1628817622.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:22.830Z,1628817622.830 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:20:23.161Z,1628817623.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:23.569Z,1628817623.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00B22,186,80,80,8E,FF
2021-08-13T01:20:23.569Z,1628817623.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:24.021Z,1628817624.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012024.30*58

2021-08-13T01:20:24.098Z,1628817624.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.500000 m, bearing: 331.185382 deg, deltaT: 4.439514 s, approachRate: 0.608174 m/s, LOS rate: -12.751474 deg/s, posRepo size: 4
2021-08-13T01:20:24.099Z,1628817624.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.751474 deg/s. Setting heading cmd to target bearing of 331.185382deg and heading rate command to 0 deg/s.
2021-08-13T01:20:26.095Z,1628817626.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:26.393Z,1628817626.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:26.393Z,1628817626.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:26.393Z,1628817626.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:26.394Z,1628817626.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:26.793Z,1628817626.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00B22,186,80,80,8E,FF
2021-08-13T01:20:26.793Z,1628817626.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:26.793Z,1628817626.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:26.795Z,1628817626.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:27.200Z,1628817627.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:27.605Z,1628817627.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,00B47,186,80,80,6E,FF
2021-08-13T01:20:27.606Z,1628817627.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:28.045Z,1628817628.045 [Micromodem](INFO): Nmea in: $SNTTA,0.206659,,,,012028.32*46

2021-08-13T01:20:28.127Z,1628817628.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.720001 m, bearing: 16.060913 deg, deltaT: 4.065651 s, approachRate: 0.546038 m/s, LOS rate: 11.037724 deg/s, posRepo size: 4
2021-08-13T01:20:28.143Z,1628817628.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.720001 m,
      bearing: 16.060913 deg,
      approachRate: 0.546038 m/s,
      LOS rate: 11.037724 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.185382 deg,
      new cmd heading: 331.185382 deg.

2021-08-13T01:20:30.446Z,1628817630.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:30.837Z,1628817630.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:30.837Z,1628817630.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:30.837Z,1628817630.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:30.838Z,1628817630.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:31.243Z,1628817631.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,00B47,186,80,80,6E,FF
2021-08-13T01:20:31.243Z,1628817631.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:31.243Z,1628817631.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:31.245Z,1628817631.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:31.651Z,1628817631.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:32.057Z,1628817632.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00B6B,187,80,80,94,FF
2021-08-13T01:20:32.057Z,1628817632.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:32.486Z,1628817632.486 [Micromodem](INFO): Nmea in: $SNTTA,0.093881,,,,012032.77*49

2021-08-13T01:20:32.507Z,1628817632.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.880005 m, bearing: 31.332834 deg, deltaT: 4.501928 s, approachRate: 0.479795 m/s, LOS rate: 3.392307 deg/s, posRepo size: 4
2021-08-13T01:20:32.510Z,1628817632.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.880005 m,
      bearing: 31.332834 deg,
      approachRate: 0.479795 m/s,
      LOS rate: 3.392307 deg/s,
      cmd update: 10.176920 deg/s,
      cmd heading: 25.453860 deg,
      new cmd heading: 29.805216 deg.

2021-08-13T01:20:34.919Z,1628817634.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:35.281Z,1628817635.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:35.281Z,1628817635.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:35.282Z,1628817635.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:35.283Z,1628817635.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:35.697Z,1628817635.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00B6B,187,80,80,94,FF
2021-08-13T01:20:35.697Z,1628817635.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:35.697Z,1628817635.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:35.699Z,1628817635.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:36.101Z,1628817636.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:36.494Z,1628817636.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00B8B,186,80,80,5F,FF
2021-08-13T01:20:36.494Z,1628817636.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:36.925Z,1628817636.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012037.23*58

2021-08-13T01:20:36.975Z,1628817636.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.800003 m, bearing: 18.582281 deg, deltaT: 4.358607 s, approachRate: 0.440507 m/s, LOS rate: -2.925373 deg/s, posRepo size: 4
2021-08-13T01:20:36.981Z,1628817636.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.800003 m,
      bearing: 18.582281 deg,
      approachRate: 0.440507 m/s,
      LOS rate: -2.925373 deg/s,
      cmd update: -8.776120 deg/s,
      cmd heading: 69.899738 deg,
      new cmd heading: 74.607978 deg.

2021-08-13T01:20:39.349Z,1628817639.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:39.756Z,1628817639.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:39.757Z,1628817639.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:39.757Z,1628817639.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:39.758Z,1628817639.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:40.141Z,1628817640.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00B8B,186,80,80,5F,FF
2021-08-13T01:20:40.141Z,1628817640.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:40.141Z,1628817640.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:40.143Z,1628817640.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:40.544Z,1628817640.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:40.950Z,1628817640.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C21,000,00BB4,189,80,80,69,FF
2021-08-13T01:20:40.950Z,1628817640.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:40.959Z,1628817640.959 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T01:20:41.392Z,1628817641.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012041.67*59

2021-08-13T01:20:41.412Z,1628817641.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.260010 m, bearing: 73.534677 deg, deltaT: 4.488670 s, approachRate: 0.548048 m/s, LOS rate: 12.242468 deg/s, posRepo size: 4
2021-08-13T01:20:41.413Z,1628817641.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.242468 deg/s. Setting heading cmd to target bearing of 73.534677deg and heading rate command to 0 deg/s.
2021-08-13T01:20:43.823Z,1628817643.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:44.177Z,1628817644.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:44.177Z,1628817644.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:44.177Z,1628817644.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:44.178Z,1628817644.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:44.587Z,1628817644.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C21,000,00BB4,189,80,80,69,FF
2021-08-13T01:20:44.587Z,1628817644.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:44.587Z,1628817644.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:44.589Z,1628817644.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:44.989Z,1628817644.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:45.398Z,1628817645.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00BCD,189,80,80,A3,FF
2021-08-13T01:20:45.398Z,1628817645.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:45.821Z,1628817645.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012046.12*5C

2021-08-13T01:20:45.883Z,1628817645.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 79.755292 deg, deltaT: 4.414224 s, approachRate: 0.339807 m/s, LOS rate: 1.409221 deg/s, posRepo size: 4
2021-08-13T01:20:45.896Z,1628817645.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 79.755292 deg,
      approachRate: 0.339807 m/s,
      LOS rate: 1.409221 deg/s,
      cmd update: 4.227662 deg/s,
      cmd heading: 73.534677 deg,
      new cmd heading: 73.534677 deg.

2021-08-13T01:20:48.282Z,1628817648.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:48.621Z,1628817648.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:48.621Z,1628817648.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:48.621Z,1628817648.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:48.622Z,1628817648.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:49.041Z,1628817649.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,00BCD,189,80,80,A3,FF
2021-08-13T01:20:49.041Z,1628817649.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:49.041Z,1628817649.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:49.043Z,1628817649.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:49.429Z,1628817649.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:49.846Z,1628817649.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00BD4,188,80,80,89,FF
2021-08-13T01:20:49.846Z,1628817649.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:50.265Z,1628817650.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012050.57*5A

2021-08-13T01:20:50.313Z,1628817650.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.179993 m, bearing: 88.564092 deg, deltaT: 4.566004 s, approachRate: 0.091984 m/s, LOS rate: 1.929214 deg/s, posRepo size: 4
2021-08-13T01:20:50.315Z,1628817650.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.179993 m,
      bearing: 88.564092 deg,
      approachRate: 0.091984 m/s,
      LOS rate: 1.929214 deg/s,
      cmd update: 5.787642 deg/s,
      cmd heading: 92.831391 deg,
      new cmd heading: 94.238792 deg.

2021-08-13T01:20:52.756Z,1628817652.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:53.081Z,1628817653.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:53.081Z,1628817653.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:53.081Z,1628817653.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:53.082Z,1628817653.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:53.469Z,1628817653.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00BD4,188,80,80,89,FF
2021-08-13T01:20:53.469Z,1628817653.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:53.469Z,1628817653.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:53.471Z,1628817653.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:53.902Z,1628817653.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:54.285Z,1628817654.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,00BCD,189,80,80,A8,FF
2021-08-13T01:20:54.285Z,1628817654.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:54.737Z,1628817654.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012055.00*5D

2021-08-13T01:20:54.763Z,1628817654.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 110.648163 deg, deltaT: 4.380967 s, approachRate: -0.095869 m/s, LOS rate: 5.040912 deg/s, posRepo size: 4
2021-08-13T01:20:54.765Z,1628817654.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 110.648163 deg,
      approachRate: -0.095869 m/s,
      LOS rate: 5.040912 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 118.172801 deg,
      new cmd heading: 120.514440 deg.

2021-08-13T01:20:57.156Z,1628817657.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:20:57.513Z,1628817657.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:20:57.513Z,1628817657.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:20:57.513Z,1628817657.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:20:57.514Z,1628817657.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:20:57.933Z,1628817657.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,00BCD,189,80,80,A8,FF
2021-08-13T01:20:57.934Z,1628817657.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:20:57.934Z,1628817657.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:20:57.950Z,1628817657.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:20:58.326Z,1628817658.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:20:58.743Z,1628817658.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00BBE,189,80,80,A8,FF
2021-08-13T01:20:58.743Z,1628817658.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:20:59.143Z,1628817659.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012059.48*5D

2021-08-13T01:20:59.179Z,1628817659.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 159.218512 deg, deltaT: 4.443220 s, approachRate: -0.202554 m/s, LOS rate: 10.931340 deg/s, posRepo size: 4
2021-08-13T01:20:59.182Z,1628817659.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.860001 m,
      bearing: 159.218512 deg,
      approachRate: -0.202554 m/s,
      LOS rate: 10.931340 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 171.431563 deg,
      new cmd heading: 176.027563 deg.

2021-08-13T01:21:01.578Z,1628817661.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:01.993Z,1628817661.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:01.993Z,1628817661.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:01.994Z,1628817661.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:01.994Z,1628817661.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:02.361Z,1628817662.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00BBE,189,80,80,A8,FF
2021-08-13T01:21:02.361Z,1628817662.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:02.361Z,1628817662.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:02.363Z,1628817662.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:02.799Z,1628817662.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:03.173Z,1628817663.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,00BA2,189,80,80,A3,FF
2021-08-13T01:21:03.173Z,1628817663.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:03.606Z,1628817663.606 [Micromodem](INFO): Nmea in: $SNTTA,0.101823,,,,012103.89*49

2021-08-13T01:21:03.703Z,1628817663.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 151.935127 deg, deltaT: 4.384779 s, approachRate: -0.383142 m/s, LOS rate: -1.661061 deg/s, posRepo size: 4
2021-08-13T01:21:03.711Z,1628817663.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 151.935127 deg,
      approachRate: -0.383142 m/s,
      LOS rate: -1.661061 deg/s,
      cmd update: -4.983184 deg/s,
      cmd heading: 224.156156 deg,
      new cmd heading: 230.315612 deg.

2021-08-13T01:21:06.117Z,1628817666.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:06.394Z,1628817666.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:06.394Z,1628817666.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:06.395Z,1628817666.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:06.395Z,1628817666.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:06.813Z,1628817666.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,00BA2,189,80,80,A3,FF
2021-08-13T01:21:06.813Z,1628817666.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:06.813Z,1628817666.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:06.815Z,1628817666.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:07.209Z,1628817667.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:07.620Z,1628817667.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,00B7A,189,80,80,AA,FF
2021-08-13T01:21:07.621Z,1628817667.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:08.061Z,1628817668.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012108.34*53

2021-08-13T01:21:08.118Z,1628817668.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 164.970788 deg, deltaT: 4.464396 s, approachRate: -0.537589 m/s, LOS rate: 2.919916 deg/s, posRepo size: 4
2021-08-13T01:21:08.120Z,1628817668.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.779999 m,
      bearing: 164.970788 deg,
      approachRate: -0.537589 m/s,
      LOS rate: 2.919916 deg/s,
      cmd update: 8.759748 deg/s,
      cmd heading: 201.931506 deg,
      new cmd heading: 199.601065 deg.

2021-08-13T01:21:10.470Z,1628817670.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:10.846Z,1628817670.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:10.846Z,1628817670.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:10.847Z,1628817670.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:10.848Z,1628817670.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:11.253Z,1628817671.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,00B7A,189,80,80,AA,FF
2021-08-13T01:21:11.254Z,1628817671.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:11.254Z,1628817671.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:11.256Z,1628817671.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:11.654Z,1628817671.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:12.073Z,1628817672.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00B4F,187,80,80,AF,FF
2021-08-13T01:21:12.074Z,1628817672.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:12.077Z,1628817672.077 [Micromodem](INFO): Nmea in: $SNTTA,0.281567,0.281599,,,012112.78*51

2021-08-13T01:21:12.519Z,1628817672.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.199997 m, bearing: 157.214521 deg, deltaT: 4.505344 s, approachRate: -0.572654 m/s, LOS rate: -1.721571 deg/s, posRepo size: 4
2021-08-13T01:21:12.521Z,1628817672.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.199997 m,
      bearing: 157.214521 deg,
      approachRate: -0.572654 m/s,
      LOS rate: -1.721571 deg/s,
      cmd update: -5.164712 deg/s,
      cmd heading: 241.399446 deg,
      new cmd heading: 244.581582 deg.

2021-08-13T01:21:14.938Z,1628817674.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:15.289Z,1628817675.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:15.289Z,1628817675.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:15.290Z,1628817675.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:15.290Z,1628817675.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:15.713Z,1628817675.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00B4F,187,80,80,AF,FF
2021-08-13T01:21:15.713Z,1628817675.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:15.713Z,1628817675.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:15.715Z,1628817675.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:16.114Z,1628817676.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:16.524Z,1628817676.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,00B1F,185,80,80,A4,FF
2021-08-13T01:21:16.525Z,1628817676.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:16.950Z,1628817676.950 [Micromodem](INFO): Nmea in: $SNTTA,0.088767,,,,012117.24*44

2021-08-13T01:21:16.980Z,1628817676.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 150.916759 deg, deltaT: 4.381414 s, approachRate: -0.657320 m/s, LOS rate: -1.437381 deg/s, posRepo size: 4
2021-08-13T01:21:16.982Z,1628817676.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.320007 m,
      bearing: 150.916759 deg,
      approachRate: -0.657320 m/s,
      LOS rate: -1.437381 deg/s,
      cmd update: -4.312143 deg/s,
      cmd heading: 218.750042 deg,
      new cmd heading: 216.483219 deg.

2021-08-13T01:21:19.355Z,1628817679.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:19.737Z,1628817679.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:19.737Z,1628817679.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:19.738Z,1628817679.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:19.738Z,1628817679.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:20.153Z,1628817680.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,00B1F,185,80,80,A4,FF
2021-08-13T01:21:20.153Z,1628817680.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:20.153Z,1628817680.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:20.155Z,1628817680.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:20.583Z,1628817680.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:20.981Z,1628817680.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,00AF3,189,80,80,B8,FF
2021-08-13T01:21:20.981Z,1628817680.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:21.442Z,1628817681.442 [Micromodem](INFO): Nmea in: $SNTTA,0.095554,,,,012121.68*47

2021-08-13T01:21:21.465Z,1628817681.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 143.108651 deg, deltaT: 4.580661 s, approachRate: -0.576336 m/s, LOS rate: -1.704581 deg/s, posRepo size: 4
2021-08-13T01:21:21.467Z,1628817681.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 143.108651 deg,
      approachRate: -0.576336 m/s,
      LOS rate: -1.704581 deg/s,
      cmd update: -5.113743 deg/s,
      cmd heading: 199.013797 deg,
      new cmd heading: 197.521248 deg.

2021-08-13T01:21:23.922Z,1628817683.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:24.245Z,1628817684.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:24.245Z,1628817684.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:24.245Z,1628817684.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:24.246Z,1628817684.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:24.656Z,1628817684.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,00AF3,189,80,80,B8,FF
2021-08-13T01:21:24.656Z,1628817684.656 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:24.657Z,1628817684.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:24.663Z,1628817684.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:25.057Z,1628817685.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:25.461Z,1628817685.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00AD2,18A,80,80,AE,FF
2021-08-13T01:21:25.461Z,1628817685.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:25.893Z,1628817685.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012126.19*50

2021-08-13T01:21:25.994Z,1628817685.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.699997 m, bearing: 138.359538 deg, deltaT: 4.356406 s, approachRate: -0.454506 m/s, LOS rate: -1.090145 deg/s, posRepo size: 4
2021-08-13T01:21:26.000Z,1628817686.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.699997 m,
      bearing: 138.359538 deg,
      approachRate: -0.454506 m/s,
      LOS rate: -1.090145 deg/s,
      cmd update: -3.270434 deg/s,
      cmd heading: 176.715508 deg,
      new cmd heading: 174.079563 deg.

2021-08-13T01:21:28.005Z,1628817688.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:28.294Z,1628817688.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:28.294Z,1628817688.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:28.295Z,1628817688.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:28.295Z,1628817688.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:28.709Z,1628817688.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00AD2,18A,80,80,AE,FF
2021-08-13T01:21:28.709Z,1628817688.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:28.709Z,1628817688.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:28.711Z,1628817688.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:29.102Z,1628817689.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:29.511Z,1628817689.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,381,000,00AB7,189,80,80,B1,FF
2021-08-13T01:21:29.511Z,1628817689.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:29.977Z,1628817689.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012130.24*59

2021-08-13T01:21:30.053Z,1628817690.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.080002 m, bearing: 150.073326 deg, deltaT: 4.049342 s, approachRate: -0.400064 m/s, LOS rate: 2.892763 deg/s, posRepo size: 4
2021-08-13T01:21:30.055Z,1628817690.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.080002 m,
      bearing: 150.073326 deg,
      approachRate: -0.400064 m/s,
      LOS rate: 2.892763 deg/s,
      cmd update: 8.678290 deg/s,
      cmd heading: 163.472420 deg,
      new cmd heading: 161.756505 deg.

2021-08-13T01:21:32.354Z,1628817692.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:32.770Z,1628817692.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:32.770Z,1628817692.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:32.770Z,1628817692.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:32.771Z,1628817692.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:33.137Z,1628817693.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
381,000,00AB7,189,80,80,B1,FF
2021-08-13T01:21:33.137Z,1628817693.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:33.138Z,1628817693.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:33.139Z,1628817693.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:33.537Z,1628817693.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:33.996Z,1628817693.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,00A8A,189,80,80,8F,FF
2021-08-13T01:21:33.997Z,1628817693.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:34.377Z,1628817694.377 [Micromodem](INFO): Nmea in: $SNTTA,0.101460,,,,012134.66*47

2021-08-13T01:21:34.413Z,1628817694.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.379997 m, bearing: 145.225477 deg, deltaT: 4.565657 s, approachRate: -0.591373 m/s, LOS rate: -1.061808 deg/s, posRepo size: 4
2021-08-13T01:21:34.415Z,1628817694.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.379997 m,
      bearing: 145.225477 deg,
      approachRate: -0.591373 m/s,
      LOS rate: -1.061808 deg/s,
      cmd update: -3.185423 deg/s,
      cmd heading: 203.056703 deg,
      new cmd heading: 205.865987 deg.

2021-08-13T01:21:36.822Z,1628817696.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:37.173Z,1628817697.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:37.173Z,1628817697.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:37.173Z,1628817697.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:37.174Z,1628817697.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:37.585Z,1628817697.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,00A8A,189,80,80,8F,FF
2021-08-13T01:21:37.585Z,1628817697.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:37.586Z,1628817697.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:37.587Z,1628817697.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:38.022Z,1628817698.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:38.393Z,1628817698.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,00A5A,189,80,80,92,FF
2021-08-13T01:21:38.394Z,1628817698.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:38.831Z,1628817698.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 144.364477 deg, deltaT: 4.346380 s, approachRate: -0.662620 m/s, LOS rate: -0.198096 deg/s, posRepo size: 4
2021-08-13T01:21:38.858Z,1628817698.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 144.364477 deg,
      approachRate: -0.662620 m/s,
      LOS rate: -0.198096 deg/s,
      cmd update: -0.594288 deg/s,
      cmd heading: 189.276448 deg,
      new cmd heading: 187.951296 deg.

2021-08-13T01:21:41.235Z,1628817701.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:41.617Z,1628817701.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:41.617Z,1628817701.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:41.617Z,1628817701.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:41.618Z,1628817701.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:42.029Z,1628817702.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,00A5A,189,80,80,92,FF
2021-08-13T01:21:42.029Z,1628817702.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:42.029Z,1628817702.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:42.031Z,1628817702.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:42.432Z,1628817702.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:42.846Z,1628817702.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F0,000,00A3A,189,80,80,CC,FF
2021-08-13T01:21:42.846Z,1628817702.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:43.297Z,1628817703.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012143.56*58

2021-08-13T01:21:43.298Z,1628817703.298 [Micromodem](INFO): Nmea in: $C.39330*79

2021-08-13T01:21:43.298Z,1628817703.298 [Micromodem](ERROR): Response from modem failed NMEA checksum: $C.39330*79
 expected 57
2021-08-13T01:21:43.320Z,1628817703.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 135.637844 deg, deltaT: 4.505213 s, approachRate: -0.426174 m/s, LOS rate: -1.937008 deg/s, posRepo size: 4
2021-08-13T01:21:43.322Z,1628817703.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 135.637844 deg,
      approachRate: -0.426174 m/s,
      LOS rate: -1.937008 deg/s,
      cmd update: -5.811023 deg/s,
      cmd heading: 186.589276 deg,
      new cmd heading: 186.361474 deg.

2021-08-13T01:21:45.728Z,1628817705.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:46.061Z,1628817706.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:46.061Z,1628817706.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:46.061Z,1628817706.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:46.062Z,1628817706.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:46.465Z,1628817706.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F0,000,00A3A,189,80,80,CC,FF
2021-08-13T01:21:46.465Z,1628817706.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:46.465Z,1628817706.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:46.467Z,1628817706.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:46.871Z,1628817706.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:47.277Z,1628817707.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,00A12,189,80,80,BD,FF
2021-08-13T01:21:47.277Z,1628817707.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:47.736Z,1628817707.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012148.00*50

2021-08-13T01:21:47.817Z,1628817707.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 146.304086 deg, deltaT: 4.365697 s, approachRate: -0.549739 m/s, LOS rate: 2.443193 deg/s, posRepo size: 4
2021-08-13T01:21:47.819Z,1628817707.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.180000 m,
      bearing: 146.304086 deg,
      approachRate: -0.549739 m/s,
      LOS rate: 2.443193 deg/s,
      cmd update: 7.329580 deg/s,
      cmd heading: 161.267056 deg,
      new cmd heading: 158.254441 deg.

2021-08-13T01:21:50.144Z,1628817710.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:50.513Z,1628817710.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:50.513Z,1628817710.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:50.513Z,1628817710.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:50.514Z,1628817710.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:50.913Z,1628817710.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,00A12,189,80,80,BD,FF
2021-08-13T01:21:50.913Z,1628817710.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:50.913Z,1628817710.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:50.915Z,1628817710.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:51.317Z,1628817711.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:51.748Z,1628817711.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,009EB,189,80,80,B0,FF
2021-08-13T01:21:51.749Z,1628817711.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:52.153Z,1628817712.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012152.44*5B

2021-08-13T01:21:52.202Z,1628817712.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.839996 m, bearing: 144.735369 deg, deltaT: 4.464594 s, approachRate: -0.524125 m/s, LOS rate: -0.351368 deg/s, posRepo size: 4
2021-08-13T01:21:52.205Z,1628817712.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.839996 m,
      bearing: 144.735369 deg,
      approachRate: -0.524125 m/s,
      LOS rate: -0.351368 deg/s,
      cmd update: -1.054105 deg/s,
      cmd heading: 194.110340 deg,
      new cmd heading: 197.236318 deg.

2021-08-13T01:21:54.568Z,1628817714.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:54.949Z,1628817714.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:54.949Z,1628817714.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:54.949Z,1628817714.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:54.950Z,1628817714.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:55.359Z,1628817715.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,009EB,189,80,80,B0,FF
2021-08-13T01:21:55.359Z,1628817715.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:55.359Z,1628817715.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:55.361Z,1628817715.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:21:55.788Z,1628817715.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:21:56.169Z,1628817716.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,009BA,188,80,80,AB,FF
2021-08-13T01:21:56.169Z,1628817716.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:21:56.601Z,1628817716.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012156.89*5E

2021-08-13T01:21:56.662Z,1628817716.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.900009 m, bearing: 137.920644 deg, deltaT: 4.452292 s, approachRate: -0.660331 m/s, LOS rate: -1.530611 deg/s, posRepo size: 4
2021-08-13T01:21:56.696Z,1628817716.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 137.920644 deg,
      approachRate: -0.660331 m/s,
      LOS rate: -1.530611 deg/s,
      cmd update: -4.591832 deg/s,
      cmd heading: 189.417421 deg,
      new cmd heading: 188.969821 deg.

2021-08-13T01:21:59.025Z,1628817719.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:21:59.393Z,1628817719.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:21:59.393Z,1628817719.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:21:59.393Z,1628817719.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:21:59.394Z,1628817719.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:21:59.809Z,1628817719.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,009BA,188,80,80,AB,FF
2021-08-13T01:21:59.809Z,1628817719.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:21:59.809Z,1628817719.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:21:59.811Z,1628817719.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:00.205Z,1628817720.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:00.617Z,1628817720.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BF,000,00991,189,80,80,8C,FF
2021-08-13T01:22:00.618Z,1628817720.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:01.041Z,1628817721.041 [Micromodem](INFO): Nmea in: $SNTTA,0.078916,,,,012201.34*46

2021-08-13T01:22:01.096Z,1628817721.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.440010 m, bearing: 133.442704 deg, deltaT: 4.474117 s, approachRate: -0.549829 m/s, LOS rate: -1.000855 deg/s, posRepo size: 4
2021-08-13T01:22:01.098Z,1628817721.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.440010 m,
      bearing: 133.442704 deg,
      approachRate: -0.549829 m/s,
      LOS rate: -1.000855 deg/s,
      cmd update: -3.002564 deg/s,
      cmd heading: 168.915088 deg,
      new cmd heading: 167.080794 deg.

2021-08-13T01:22:03.455Z,1628817723.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:03.856Z,1628817723.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:03.857Z,1628817723.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:03.857Z,1628817723.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:03.858Z,1628817723.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:04.241Z,1628817724.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BF,000,00991,189,80,80,8C,FF
2021-08-13T01:22:04.241Z,1628817724.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:04.241Z,1628817724.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:04.243Z,1628817724.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:04.698Z,1628817724.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:05.057Z,1628817725.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,330,000,00967,189,80,80,AE,FF
2021-08-13T01:22:05.057Z,1628817725.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:05.497Z,1628817725.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012205.77*5A

2021-08-13T01:22:05.514Z,1628817725.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.920006 m, bearing: 143.019339 deg, deltaT: 4.392587 s, approachRate: -0.573695 m/s, LOS rate: 2.180181 deg/s, posRepo size: 4
2021-08-13T01:22:05.516Z,1628817725.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.920006 m,
      bearing: 143.019339 deg,
      approachRate: -0.573695 m/s,
      LOS rate: 2.180181 deg/s,
      cmd update: 6.540544 deg/s,
      cmd heading: 155.758110 deg,
      new cmd heading: 154.439060 deg.

2021-08-13T01:22:07.995Z,1628817727.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:08.294Z,1628817728.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:08.294Z,1628817728.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:08.295Z,1628817728.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:08.295Z,1628817728.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:08.730Z,1628817728.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
330,000,00967,189,80,80,AE,FF
2021-08-13T01:22:08.730Z,1628817728.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:08.731Z,1628817728.731 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:08.781Z,1628817728.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:09.100Z,1628817729.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:09.506Z,1628817729.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,218,000,00967,189,80,80,AE,FF
2021-08-13T01:22:09.507Z,1628817729.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:10.003Z,1628817730.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.920006 m, bearing: 142.678868 deg, deltaT: 4.460933 s, approachRate: 0.000000 m/s, LOS rate: -0.076323 deg/s, posRepo size: 4
2021-08-13T01:22:10.006Z,1628817730.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.920006 m,
      bearing: 142.678868 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.076323 deg/s,
      cmd update: -0.228969 deg/s,
      cmd heading: 185.039405 deg,
      new cmd heading: 187.982146 deg.

2021-08-13T01:22:10.330Z,1628817730.330 [Micromodem](INFO): Nmea in: $SNTTA,0.477079,,,,012210.31*48

2021-08-13T01:22:12.381Z,1628817732.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:12.739Z,1628817732.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:12.740Z,1628817732.740 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:12.740Z,1628817732.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:12.741Z,1628817732.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:13.142Z,1628817733.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
218,000,00967,189,80,80,AE,FF
2021-08-13T01:22:13.142Z,1628817733.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:13.142Z,1628817733.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:13.144Z,1628817733.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:13.544Z,1628817733.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:13.971Z,1628817733.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,0090F,189,80,80,98,FF
2021-08-13T01:22:13.972Z,1628817733.972 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:14.382Z,1628817734.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012214.67*5B

2021-08-13T01:22:14.441Z,1628817734.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.639999 m, bearing: 132.043744 deg, deltaT: 4.513431 s, approachRate: -1.169843 m/s, LOS rate: -2.356328 deg/s, posRepo size: 4
2021-08-13T01:22:14.443Z,1628817734.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.639999 m,
      bearing: 132.043744 deg,
      approachRate: -1.169843 m/s,
      LOS rate: -2.356328 deg/s,
      cmd update: -7.068984 deg/s,
      cmd heading: 184.007295 deg,
      new cmd heading: 183.920817 deg.

2021-08-13T01:22:16.821Z,1628817736.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:17.173Z,1628817737.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:17.173Z,1628817737.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:17.173Z,1628817737.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:17.174Z,1628817737.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:17.577Z,1628817737.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,0090F,189,80,80,98,FF
2021-08-13T01:22:17.577Z,1628817737.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:17.577Z,1628817737.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:17.579Z,1628817737.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:18.025Z,1628817738.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:18.393Z,1628817738.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,496,000,008E5,189,80,80,BB,FF
2021-08-13T01:22:18.393Z,1628817738.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:18.825Z,1628817738.825 [Micromodem](INFO): Nmea in: $SNTTA,0.405104,,,,012219.11*4D

2021-08-13T01:22:18.876Z,1628817738.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.120003 m, bearing: 130.240752 deg, deltaT: 4.341485 s, approachRate: -0.580446 m/s, LOS rate: -0.415294 deg/s, posRepo size: 4
2021-08-13T01:22:18.878Z,1628817738.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.120003 m,
      bearing: 130.240752 deg,
      approachRate: -0.580446 m/s,
      LOS rate: -0.415294 deg/s,
      cmd update: -1.245882 deg/s,
      cmd heading: 153.247305 deg,
      new cmd heading: 149.962624 deg.

2021-08-13T01:22:21.239Z,1628817741.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:21.623Z,1628817741.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:21.624Z,1628817741.624 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:21.624Z,1628817741.624 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:21.625Z,1628817741.625 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:22.021Z,1628817742.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
496,000,008E5,189,80,80,BB,FF
2021-08-13T01:22:22.021Z,1628817742.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:22.021Z,1628817742.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:22.023Z,1628817742.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:22.434Z,1628817742.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:22.862Z,1628817742.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,008C3,189,80,80,99,FF
2021-08-13T01:22:22.863Z,1628817742.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:23.269Z,1628817743.269 [Micromodem](INFO): Nmea in: $SNTTA,0.076682,,,,012223.55*4D

2021-08-13T01:22:23.291Z,1628817743.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.080009 m, bearing: 141.152512 deg, deltaT: 4.516843 s, approachRate: -0.451641 m/s, LOS rate: 2.415794 deg/s, posRepo size: 4
2021-08-13T01:22:23.294Z,1628817743.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 141.152512 deg,
      approachRate: -0.451641 m/s,
      LOS rate: 2.415794 deg/s,
      cmd update: 7.247381 deg/s,
      cmd heading: 147.624925 deg,
      new cmd heading: 147.165860 deg.

2021-08-13T01:22:25.723Z,1628817745.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:26.061Z,1628817746.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:26.061Z,1628817746.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:26.061Z,1628817746.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:26.062Z,1628817746.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:26.473Z,1628817746.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,008C3,189,80,80,99,FF
2021-08-13T01:22:26.473Z,1628817746.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:26.473Z,1628817746.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:26.475Z,1628817746.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:26.875Z,1628817746.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:27.273Z,1628817747.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00890,187,80,80,A7,FF
2021-08-13T01:22:27.273Z,1628817747.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:27.737Z,1628817747.737 [Micromodem](INFO): Nmea in: $SNTTA,0.078404,,,,012228.00*44

2021-08-13T01:22:27.767Z,1628817747.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 137.144174 deg, deltaT: 4.363364 s, approachRate: -0.701297 m/s, LOS rate: -0.918635 deg/s, posRepo size: 4
2021-08-13T01:22:27.809Z,1628817747.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 137.144174 deg,
      approachRate: -0.701297 m/s,
      LOS rate: -0.918635 deg/s,
      cmd update: -2.755904 deg/s,
      cmd heading: 179.277337 deg,
      new cmd heading: 182.730982 deg.

2021-08-13T01:22:30.163Z,1628817750.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:30.509Z,1628817750.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:30.509Z,1628817750.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:30.510Z,1628817750.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:30.510Z,1628817750.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:30.917Z,1628817750.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00890,187,80,80,A7,FF
2021-08-13T01:22:30.917Z,1628817750.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:30.917Z,1628817750.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:30.919Z,1628817750.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:31.321Z,1628817751.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:31.737Z,1628817751.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,00860,189,80,80,90,FF
2021-08-13T01:22:31.737Z,1628817751.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:32.165Z,1628817752.165 [Micromodem](INFO): Nmea in: $SNTTA,0.104262,,,,012232.44*43

2021-08-13T01:22:32.209Z,1628817752.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 135.737975 deg, deltaT: 4.502945 s, approachRate: -0.639581 m/s, LOS rate: -0.312284 deg/s, posRepo size: 4
2021-08-13T01:22:32.211Z,1628817752.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.139999 m,
      bearing: 135.737975 deg,
      approachRate: -0.639581 m/s,
      LOS rate: -0.312284 deg/s,
      cmd update: -0.936853 deg/s,
      cmd heading: 166.879263 deg,
      new cmd heading: 165.720962 deg.

2021-08-13T01:22:34.563Z,1628817754.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:34.957Z,1628817754.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:34.957Z,1628817754.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:34.957Z,1628817754.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:34.958Z,1628817754.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:35.354Z,1628817755.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,00860,189,80,80,90,FF
2021-08-13T01:22:35.354Z,1628817755.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:35.354Z,1628817755.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:35.360Z,1628817755.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:35.764Z,1628817755.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:36.590Z,1628817756.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012236.89*5B

2021-08-13T01:22:37.397Z,1628817757.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:38.993Z,1628817758.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:38.994Z,1628817758.994 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:38.994Z,1628817758.994 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:22:40.267Z,1628817760.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:40.605Z,1628817760.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:40.605Z,1628817760.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:40.605Z,1628817760.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:40.606Z,1628817760.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:41.009Z,1628817761.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:41.009Z,1628817761.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:41.009Z,1628817761.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:41.011Z,1628817761.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:41.425Z,1628817761.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:42.262Z,1628817762.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012242.54*58

2021-08-13T01:22:43.082Z,1628817763.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:44.653Z,1628817764.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:44.654Z,1628817764.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:44.654Z,1628817764.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:22:45.977Z,1628817765.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:46.273Z,1628817766.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:46.273Z,1628817766.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:46.273Z,1628817766.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:46.274Z,1628817766.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:46.701Z,1628817766.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,90,FF
2021-08-13T01:22:46.701Z,1628817766.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:46.701Z,1628817766.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:46.703Z,1628817766.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:47.085Z,1628817767.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:47.481Z,1628817767.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F3,000,007C8,188,80,80,91,FF
2021-08-13T01:22:47.481Z,1628817767.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:47.933Z,1628817767.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012248.23*52

2021-08-13T01:22:48.017Z,1628817768.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.020004 m, bearing: 126.752041 deg, deltaT: 15.705310 s, approachRate: -0.580695 m/s, LOS rate: -0.572159 deg/s, posRepo size: 4
2021-08-13T01:22:48.019Z,1628817768.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 126.752041 deg,
      approachRate: -0.580695 m/s,
      LOS rate: -0.572159 deg/s,
      cmd update: -1.716477 deg/s,
      cmd heading: 152.161778 deg,
      new cmd heading: 151.676574 deg.

2021-08-13T01:22:50.017Z,1628817770.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:50.321Z,1628817770.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:50.321Z,1628817770.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:50.322Z,1628817770.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:50.322Z,1628817770.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:50.737Z,1628817770.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F3,000,007C8,188,80,80,91,FF
2021-08-13T01:22:50.737Z,1628817770.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:50.737Z,1628817770.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:50.739Z,1628817770.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:51.131Z,1628817771.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:51.521Z,1628817771.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,00799,188,80,80,51,FF
2021-08-13T01:22:51.522Z,1628817771.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:51.977Z,1628817771.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012252.27*5D

2021-08-13T01:22:52.062Z,1628817772.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 133.390535 deg, deltaT: 4.055862 s, approachRate: -0.695292 m/s, LOS rate: 1.636765 deg/s, posRepo size: 4
2021-08-13T01:22:52.068Z,1628817772.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.199997 m,
      bearing: 133.390535 deg,
      approachRate: -0.695292 m/s,
      LOS rate: 1.636765 deg/s,
      cmd update: 4.910295 deg/s,
      cmd heading: 145.227521 deg,
      new cmd heading: 144.329491 deg.

2021-08-13T01:22:54.383Z,1628817774.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:54.765Z,1628817774.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:54.765Z,1628817774.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:54.765Z,1628817774.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:54.766Z,1628817774.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:55.161Z,1628817775.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,00799,188,80,80,51,FF
2021-08-13T01:22:55.161Z,1628817775.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:55.162Z,1628817775.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:55.163Z,1628817775.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:22:55.568Z,1628817775.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:22:56.012Z,1628817776.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,00762,188,80,80,71,FF
2021-08-13T01:22:56.013Z,1628817776.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:22:56.409Z,1628817776.409 [Micromodem](INFO): Nmea in: $SNTTA,0.055908,,,,012256.69*4C

2021-08-13T01:22:56.431Z,1628817776.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 127.056613 deg, deltaT: 4.529725 s, approachRate: -0.728520 m/s, LOS rate: -1.398302 deg/s, posRepo size: 4
2021-08-13T01:22:56.434Z,1628817776.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 127.056613 deg,
      approachRate: -0.728520 m/s,
      LOS rate: -1.398302 deg/s,
      cmd update: -4.194905 deg/s,
      cmd heading: 167.428009 deg,
      new cmd heading: 169.253342 deg.

2021-08-13T01:22:57.242Z,1628817777.242 [CTD_Seabird](ERROR): Failed to parse device response: 6.09,23.925531
2021-08-13T01:22:58.831Z,1628817778.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:22:59.205Z,1628817779.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:22:59.205Z,1628817779.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:22:59.205Z,1628817779.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:22:59.206Z,1628817779.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:22:59.601Z,1628817779.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,00762,188,80,80,71,FF
2021-08-13T01:22:59.601Z,1628817779.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:22:59.601Z,1628817779.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:22:59.603Z,1628817779.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:00.024Z,1628817780.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:00.413Z,1628817780.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,0073B,189,80,80,8A,FF
2021-08-13T01:23:00.413Z,1628817780.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:00.854Z,1628817780.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012301.13*5D

2021-08-13T01:23:00.905Z,1628817780.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 126.880886 deg, deltaT: 4.382215 s, approachRate: -0.533976 m/s, LOS rate: -0.040100 deg/s, posRepo size: 4
2021-08-13T01:23:00.907Z,1628817780.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.560005 m,
      bearing: 126.880886 deg,
      approachRate: -0.533976 m/s,
      LOS rate: -0.040100 deg/s,
      cmd update: -0.120300 deg/s,
      cmd heading: 148.958713 deg,
      new cmd heading: 147.102237 deg.

2021-08-13T01:23:03.291Z,1628817783.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:03.644Z,1628817783.644 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:03.645Z,1628817783.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:03.645Z,1628817783.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:03.646Z,1628817783.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:04.057Z,1628817784.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,0073B,189,80,80,8A,FF
2021-08-13T01:23:04.057Z,1628817784.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:04.057Z,1628817784.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:04.059Z,1628817784.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:04.457Z,1628817784.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:04.866Z,1628817784.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,0070A,188,80,80,69,FF
2021-08-13T01:23:04.867Z,1628817784.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:05.297Z,1628817785.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012305.59*57

2021-08-13T01:23:05.341Z,1628817785.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 126.711156 deg, deltaT: 4.454787 s, approachRate: -0.659965 m/s, LOS rate: -0.038101 deg/s, posRepo size: 4
2021-08-13T01:23:05.343Z,1628817785.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 126.711156 deg,
      approachRate: -0.659965 m/s,
      LOS rate: -0.038101 deg/s,
      cmd update: -0.114302 deg/s,
      cmd heading: 148.423311 deg,
      new cmd heading: 148.371843 deg.

2021-08-13T01:23:07.731Z,1628817787.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:08.097Z,1628817788.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:08.097Z,1628817788.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:08.098Z,1628817788.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:08.098Z,1628817788.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:08.497Z,1628817788.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,0070A,188,80,80,69,FF
2021-08-13T01:23:08.498Z,1628817788.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:08.498Z,1628817788.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:08.499Z,1628817788.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:08.911Z,1628817788.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:09.305Z,1628817789.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,006DB,188,80,80,7F,FF
2021-08-13T01:23:09.305Z,1628817789.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:09.754Z,1628817789.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012310.03*5C

2021-08-13T01:23:09.780Z,1628817789.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 130.392150 deg, deltaT: 4.401196 s, approachRate: -0.640733 m/s, LOS rate: 0.836362 deg/s, posRepo size: 4
2021-08-13T01:23:09.782Z,1628817789.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 130.392150 deg,
      approachRate: -0.640733 m/s,
      LOS rate: 0.836362 deg/s,
      cmd update: 2.509086 deg/s,
      cmd heading: 147.919304 deg,
      new cmd heading: 147.867018 deg.

2021-08-13T01:23:12.217Z,1628817792.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:12.529Z,1628817792.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:12.529Z,1628817792.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:12.529Z,1628817792.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:12.530Z,1628817792.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:12.942Z,1628817792.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,006DB,188,80,80,7F,FF
2021-08-13T01:23:12.942Z,1628817792.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:12.943Z,1628817792.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:12.945Z,1628817792.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:13.351Z,1628817793.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:13.752Z,1628817793.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EF,000,006B1,189,80,80,76,FF
2021-08-13T01:23:13.753Z,1628817793.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:14.189Z,1628817794.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012314.47*58

2021-08-13T01:23:14.248Z,1628817794.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 120.544383 deg, deltaT: 4.499854 s, approachRate: -0.560019 m/s, LOS rate: -2.188464 deg/s, posRepo size: 4
2021-08-13T01:23:14.250Z,1628817794.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 120.544383 deg,
      approachRate: -0.560019 m/s,
      LOS rate: -2.188464 deg/s,
      cmd update: -6.565391 deg/s,
      cmd heading: 159.198698 deg,
      new cmd heading: 160.268146 deg.

2021-08-13T01:23:16.335Z,1628817796.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:16.569Z,1628817796.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:16.569Z,1628817796.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:16.569Z,1628817796.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:16.570Z,1628817796.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:16.985Z,1628817796.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EF,000,006B1,189,80,80,76,FF
2021-08-13T01:23:16.985Z,1628817796.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:16.985Z,1628817796.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:16.987Z,1628817796.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:17.384Z,1628817797.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:17.781Z,1628817797.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,00682,189,80,80,84,FF
2021-08-13T01:23:17.782Z,1628817797.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:18.217Z,1628817798.217 [Micromodem](INFO): Nmea in: $SNTTA,,0.413327,,,012318.52*4E

2021-08-13T01:23:18.272Z,1628817798.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.459999 m, bearing: 121.513081 deg, deltaT: 4.102861 s, approachRate: -0.687327 m/s, LOS rate: 0.236103 deg/s, posRepo size: 4
2021-08-13T01:23:18.274Z,1628817798.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.459999 m,
      bearing: 121.513081 deg,
      approachRate: -0.687327 m/s,
      LOS rate: 0.236103 deg/s,
      cmd update: 0.708309 deg/s,
      cmd heading: 132.418855 deg,
      new cmd heading: 129.954456 deg.

2021-08-13T01:23:20.640Z,1628817800.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:21.013Z,1628817801.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:21.013Z,1628817801.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:21.013Z,1628817801.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:21.014Z,1628817801.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:21.421Z,1628817801.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,00682,189,80,80,84,FF
2021-08-13T01:23:21.421Z,1628817801.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:21.421Z,1628817801.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:21.423Z,1628817801.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:21.829Z,1628817801.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:22.225Z,1628817802.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,00652,186,80,80,6E,FF
2021-08-13T01:23:22.226Z,1628817802.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:22.678Z,1628817802.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012322.95*52

2021-08-13T01:23:22.747Z,1628817802.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.579998 m, bearing: 126.489598 deg, deltaT: 4.381091 s, approachRate: -0.657371 m/s, LOS rate: 1.135908 deg/s, posRepo size: 4
2021-08-13T01:23:22.751Z,1628817802.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.579998 m,
      bearing: 126.489598 deg,
      approachRate: -0.657371 m/s,
      LOS rate: 1.135908 deg/s,
      cmd update: 3.407724 deg/s,
      cmd heading: 135.542105 deg,
      new cmd heading: 135.854251 deg.

2021-08-13T01:23:25.086Z,1628817805.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:25.457Z,1628817805.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:25.457Z,1628817805.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:25.457Z,1628817805.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:25.458Z,1628817805.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:25.866Z,1628817805.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,00652,186,80,80,6E,FF
2021-08-13T01:23:25.866Z,1628817805.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:25.866Z,1628817805.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:25.869Z,1628817805.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:26.269Z,1628817806.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:26.682Z,1628817806.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0061B,186,80,80,B5,FF
2021-08-13T01:23:26.683Z,1628817806.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:27.117Z,1628817807.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012327.40*5F

2021-08-13T01:23:27.133Z,1628817807.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 124.824466 deg, deltaT: 4.428890 s, approachRate: -0.745108 m/s, LOS rate: -0.375970 deg/s, posRepo size: 4
2021-08-13T01:23:27.135Z,1628817807.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 124.824466 deg,
      approachRate: -0.745108 m/s,
      LOS rate: -0.375970 deg/s,
      cmd update: -1.127911 deg/s,
      cmd heading: 150.634371 deg,
      new cmd heading: 151.988662 deg.

2021-08-13T01:23:29.543Z,1628817809.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:29.924Z,1628817809.924 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:29.924Z,1628817809.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:29.925Z,1628817809.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:29.926Z,1628817809.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:30.313Z,1628817810.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0061B,186,80,80,B5,FF
2021-08-13T01:23:30.313Z,1628817810.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:30.313Z,1628817810.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:30.315Z,1628817810.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:30.741Z,1628817810.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:31.125Z,1628817811.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,005EF,189,80,80,92,FF
2021-08-13T01:23:31.126Z,1628817811.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:31.561Z,1628817811.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012331.84*50

2021-08-13T01:23:31.584Z,1628817811.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 121.592803 deg, deltaT: 4.407155 s, approachRate: -0.599026 m/s, LOS rate: -0.733276 deg/s, posRepo size: 4
2021-08-13T01:23:31.586Z,1628817811.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.639999 m,
      bearing: 121.592803 deg,
      approachRate: -0.599026 m/s,
      LOS rate: -0.733276 deg/s,
      cmd update: -2.199829 deg/s,
      cmd heading: 145.663394 deg,
      new cmd heading: 145.165621 deg.

2021-08-13T01:23:34.025Z,1628817814.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:34.349Z,1628817814.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:34.349Z,1628817814.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:34.349Z,1628817814.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:34.350Z,1628817814.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:34.749Z,1628817814.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,005EF,189,80,80,92,FF
2021-08-13T01:23:34.749Z,1628817814.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:34.749Z,1628817814.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:34.751Z,1628817814.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:35.156Z,1628817815.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:35.561Z,1628817815.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,005C2,189,80,80,60,FF
2021-08-13T01:23:35.561Z,1628817815.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:36.021Z,1628817816.021 [Micromodem](INFO): Nmea in: $SNTTA,0.069188,,,,012336.28*41

2021-08-13T01:23:36.087Z,1628817816.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 116.564705 deg, deltaT: 4.435985 s, approachRate: -0.608659 m/s, LOS rate: -1.133480 deg/s, posRepo size: 4
2021-08-13T01:23:36.089Z,1628817816.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 116.564705 deg,
      approachRate: -0.608659 m/s,
      LOS rate: -1.133480 deg/s,
      cmd update: -3.400439 deg/s,
      cmd heading: 135.905028 deg,
      new cmd heading: 134.785960 deg.

2021-08-13T01:23:38.411Z,1628817818.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:38.793Z,1628817818.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:38.793Z,1628817818.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:38.794Z,1628817818.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:38.795Z,1628817818.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:39.193Z,1628817819.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,005C2,189,80,80,60,FF
2021-08-13T01:23:39.193Z,1628817819.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:39.193Z,1628817819.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:39.195Z,1628817819.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:39.600Z,1628817819.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:40.017Z,1628817820.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,00589,185,80,80,66,FF
2021-08-13T01:23:40.017Z,1628817820.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:40.455Z,1628817820.455 [Micromodem](INFO): Nmea in: $SNTTA,0.044253,,,,012340.72*45

2021-08-13T01:23:40.476Z,1628817820.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 122.526764 deg, deltaT: 4.527048 s, approachRate: -0.755458 m/s, LOS rate: 1.316986 deg/s, posRepo size: 4
2021-08-13T01:23:40.478Z,1628817820.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.520004 m,
      bearing: 122.526764 deg,
      approachRate: -0.755458 m/s,
      LOS rate: 1.316986 deg/s,
      cmd update: 3.950958 deg/s,
      cmd heading: 120.525477 deg,
      new cmd heading: 119.251992 deg.

2021-08-13T01:23:42.916Z,1628817822.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:43.229Z,1628817823.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:43.229Z,1628817823.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:43.229Z,1628817823.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:43.230Z,1628817823.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:43.633Z,1628817823.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,00589,185,80,80,66,FF
2021-08-13T01:23:43.634Z,1628817823.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:43.634Z,1628817823.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:43.635Z,1628817823.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:44.045Z,1628817824.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:44.447Z,1628817824.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00559,186,80,80,5F,FF
2021-08-13T01:23:44.447Z,1628817824.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:44.889Z,1628817824.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012345.16*58

2021-08-13T01:23:44.925Z,1628817824.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 122.971778 deg, deltaT: 4.358603 s, approachRate: -0.660762 m/s, LOS rate: 0.102100 deg/s, posRepo size: 4
2021-08-13T01:23:44.927Z,1628817824.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 122.971778 deg,
      approachRate: -0.660762 m/s,
      LOS rate: 0.102100 deg/s,
      cmd update: 0.306301 deg/s,
      cmd heading: 137.762698 deg,
      new cmd heading: 139.586156 deg.

2021-08-13T01:23:47.291Z,1628817827.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:47.699Z,1628817827.699 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:47.699Z,1628817827.699 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:47.699Z,1628817827.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:47.704Z,1628817827.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:48.081Z,1628817828.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,00559,186,80,80,5F,FF
2021-08-13T01:23:48.081Z,1628817828.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:48.081Z,1628817828.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:48.083Z,1628817828.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:48.128Z,1628817828.128 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:23:48.499Z,1628817828.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:48.905Z,1628817828.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00522,186,80,80,82,FF
2021-08-13T01:23:48.905Z,1628817828.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:49.329Z,1628817829.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012349.61*54

2021-08-13T01:23:49.353Z,1628817829.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 119.001539 deg, deltaT: 4.517333 s, approachRate: -0.730520 m/s, LOS rate: -0.878890 deg/s, posRepo size: 4
2021-08-13T01:23:49.355Z,1628817829.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.340000 m,
      bearing: 119.001539 deg,
      approachRate: -0.730520 m/s,
      LOS rate: -0.878890 deg/s,
      cmd update: -2.636670 deg/s,
      cmd heading: 139.146303 deg,
      new cmd heading: 139.259896 deg.

2021-08-13T01:23:51.769Z,1628817831.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:52.121Z,1628817832.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:52.121Z,1628817832.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:52.121Z,1628817832.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:52.122Z,1628817832.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:52.533Z,1628817832.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00522,186,80,80,82,FF
2021-08-13T01:23:52.533Z,1628817832.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:52.533Z,1628817832.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:52.535Z,1628817832.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:52.949Z,1628817832.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:53.341Z,1628817833.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,004F2,189,80,80,61,FF
2021-08-13T01:23:53.342Z,1628817833.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:53.777Z,1628817833.777 [Micromodem](INFO): Nmea in: $SNTTA,0.049356,,,,012354.06*4A

2021-08-13T01:23:53.807Z,1628817833.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 114.121656 deg, deltaT: 4.377763 s, approachRate: -0.657871 m/s, LOS rate: -1.114698 deg/s, posRepo size: 4
2021-08-13T01:23:53.832Z,1628817833.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-08-13T01:23:53.834Z,1628817833.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 114.121656 deg,
      approachRate: -0.657871 m/s,
      LOS rate: -1.114698 deg/s,
      cmd update: -3.344093 deg/s,
      cmd heading: 127.603118 deg,
      new cmd heading: 126.420759 deg.

2021-08-13T01:23:54.182Z,1628817834.182 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:23:54.240Z,1628817834.240 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:23:54.241Z,1628817834.241 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:23:54.242Z,1628817834.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:23:54.243Z,1628817834.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:23:54.243Z,1628817834.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:23:54.243Z,1628817834.243 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:23:54.601Z,1628817834.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:23:54.601Z,1628817834.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:23:54.601Z,1628817834.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:23:54.601Z,1628817834.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:23:55.937Z,1628817835.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:23:56.165Z,1628817836.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:23:56.165Z,1628817836.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:23:56.165Z,1628817836.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:23:56.166Z,1628817836.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:23:56.565Z,1628817836.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,004F2,189,80,80,61,FF
2021-08-13T01:23:56.565Z,1628817836.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:23:56.565Z,1628817836.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:23:56.567Z,1628817836.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:23:56.980Z,1628817836.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:23:57.377Z,1628817837.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,004C3,186,80,80,50,FF
2021-08-13T01:23:57.378Z,1628817837.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:23:57.403Z,1628817837.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:23:57.817Z,1628817837.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012358.09*5A

2021-08-13T01:23:57.961Z,1628817837.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 123.090159 deg, deltaT: 4.040877 s, approachRate: -0.697867 m/s, LOS rate: 2.219445 deg/s, posRepo size: 4
2021-08-13T01:23:57.962Z,1628817837.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-08-13T01:23:57.971Z,1628817837.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 123.090159 deg,
      approachRate: -0.697867 m/s,
      LOS rate: 2.219445 deg/s,
      cmd update: 6.658334 deg/s,
      cmd heading: 114.091475 deg,
      new cmd heading: 112.257788 deg.

2021-08-13T01:24:00.263Z,1628817840.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:00.605Z,1628817840.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:00.605Z,1628817840.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:00.605Z,1628817840.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:00.606Z,1628817840.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:01.025Z,1628817841.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,004C3,186,80,80,50,FF
2021-08-13T01:24:01.025Z,1628817841.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:01.025Z,1628817841.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:01.027Z,1628817841.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:01.513Z,1628817841.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:01.842Z,1628817841.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0048E,183,80,80,55,FF
2021-08-13T01:24:01.842Z,1628817841.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:01.990Z,1628817841.990 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:02.286Z,1628817842.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012402.56*58

2021-08-13T01:24:02.322Z,1628817842.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 124.657878 deg, deltaT: 4.586897 s, approachRate: -0.693278 m/s, LOS rate: 0.341782 deg/s, posRepo size: 4
2021-08-13T01:24:02.323Z,1628817842.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.46 m.
2021-08-13T01:24:02.325Z,1628817842.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.460003 m,
      bearing: 124.657878 deg,
      approachRate: -0.693278 m/s,
      LOS rate: 0.341782 deg/s,
      cmd update: 1.025347 deg/s,
      cmd heading: 144.560964 deg,
      new cmd heading: 146.869388 deg.

2021-08-13T01:24:04.731Z,1628817844.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:05.077Z,1628817845.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:05.077Z,1628817845.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:05.078Z,1628817845.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:05.079Z,1628817845.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:05.483Z,1628817845.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0048E,183,80,80,55,FF
2021-08-13T01:24:05.483Z,1628817845.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:05.483Z,1628817845.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:05.485Z,1628817845.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:05.897Z,1628817845.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:06.281Z,1628817846.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,0045D,186,80,80,84,FF
2021-08-13T01:24:06.281Z,1628817846.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:06.342Z,1628817846.342 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:06.765Z,1628817846.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012407.01*5F

2021-08-13T01:24:06.817Z,1628817846.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 120.620786 deg, deltaT: 4.352721 s, approachRate: -0.675441 m/s, LOS rate: -0.927487 deg/s, posRepo size: 4
2021-08-13T01:24:06.818Z,1628817846.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.52 m.
2021-08-13T01:24:06.818Z,1628817846.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.52 m.
2021-08-13T01:24:06.818Z,1628817846.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:24:06.821Z,1628817846.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 120.620786 deg,
      approachRate: -0.675441 m/s,
      LOS rate: -0.927487 deg/s,
      cmd update: -2.782461 deg/s,
      cmd heading: 149.034992 deg,
      new cmd heading: 149.525188 deg.

2021-08-13T01:24:09.153Z,1628817849.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:09.517Z,1628817849.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:09.517Z,1628817849.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:09.517Z,1628817849.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:09.518Z,1628817849.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:09.947Z,1628817849.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,0045D,186,80,80,84,FF
2021-08-13T01:24:09.947Z,1628817849.947 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:09.948Z,1628817849.948 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:09.954Z,1628817849.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:10.324Z,1628817850.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:10.754Z,1628817850.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,00435,189,80,80,81,FF
2021-08-13T01:24:10.755Z,1628817850.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:10.822Z,1628817850.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:11.158Z,1628817851.158 [Micromodem](INFO): Nmea in: $SNTTA,0.031521,,,,012411.48*4F

2021-08-13T01:24:11.186Z,1628817851.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 118.251079 deg, deltaT: 4.480207 s, approachRate: -0.535690 m/s, LOS rate: -0.528928 deg/s, posRepo size: 4
2021-08-13T01:24:11.189Z,1628817851.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 118.251079 deg,
      approachRate: -0.535690 m/s,
      LOS rate: -0.528928 deg/s,
      cmd update: -1.586784 deg/s,
      cmd heading: 136.569224 deg,
      new cmd heading: 135.547551 deg.

2021-08-13T01:24:13.581Z,1628817853.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:14.009Z,1628817854.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:14.009Z,1628817854.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:14.010Z,1628817854.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:14.011Z,1628817854.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:14.361Z,1628817854.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,00435,189,80,80,81,FF
2021-08-13T01:24:14.361Z,1628817854.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:14.361Z,1628817854.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:14.363Z,1628817854.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:14.790Z,1628817854.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:15.169Z,1628817855.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00402,188,80,80,BA,FF
2021-08-13T01:24:15.169Z,1628817855.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:15.218Z,1628817855.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:15.619Z,1628817855.619 [Micromodem](INFO): Nmea in: $SNTTA,0.034038,,,,012415.89*4E

2021-08-13T01:24:15.695Z,1628817855.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 110.902062 deg, deltaT: 4.395252 s, approachRate: -0.696205 m/s, LOS rate: -1.672035 deg/s, posRepo size: 4
2021-08-13T01:24:15.708Z,1628817855.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.059999 m,
      bearing: 110.902062 deg,
      approachRate: -0.696205 m/s,
      LOS rate: -1.672035 deg/s,
      cmd update: -5.016106 deg/s,
      cmd heading: 129.600876 deg,
      new cmd heading: 128.842155 deg.

2021-08-13T01:24:18.036Z,1628817858.036 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:24:18.100Z,1628817858.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:18.405Z,1628817858.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:18.405Z,1628817858.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:18.405Z,1628817858.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:18.406Z,1628817858.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:18.813Z,1628817858.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00402,188,80,80,BA,FF
2021-08-13T01:24:18.813Z,1628817858.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:18.813Z,1628817858.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:18.815Z,1628817858.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:19.212Z,1628817859.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:19.629Z,1628817859.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,003D4,186,80,80,AA,FF
2021-08-13T01:24:19.630Z,1628817859.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:19.716Z,1628817859.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:20.053Z,1628817860.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012420.34*5C

2021-08-13T01:24:20.126Z,1628817860.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 114.439533 deg, deltaT: 4.498154 s, approachRate: -0.613585 m/s, LOS rate: 0.786427 deg/s, posRepo size: 4
2021-08-13T01:24:20.128Z,1628817860.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 114.439533 deg,
      approachRate: -0.613585 m/s,
      LOS rate: 0.786427 deg/s,
      cmd update: 2.359282 deg/s,
      cmd heading: 107.042307 deg,
      new cmd heading: 104.944852 deg.

2021-08-13T01:24:22.467Z,1628817862.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:22.845Z,1628817862.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:22.846Z,1628817862.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:22.846Z,1628817862.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:22.847Z,1628817862.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:23.249Z,1628817863.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,003D4,186,80,80,AA,FF
2021-08-13T01:24:23.249Z,1628817863.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:23.249Z,1628817863.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:23.251Z,1628817863.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:23.672Z,1628817863.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:24.061Z,1628817864.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,003BB,182,80,80,7B,FF
2021-08-13T01:24:24.061Z,1628817864.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:24.126Z,1628817864.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:24.497Z,1628817864.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012424.78*50

2021-08-13T01:24:24.556Z,1628817864.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 113.915411 deg, deltaT: 4.410088 s, approachRate: -0.340130 m/s, LOS rate: -0.118846 deg/s, posRepo size: 4
2021-08-13T01:24:24.559Z,1628817864.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 113.915411 deg,
      approachRate: -0.340130 m/s,
      LOS rate: -0.118846 deg/s,
      cmd update: -0.356538 deg/s,
      cmd heading: 117.458598 deg,
      new cmd heading: 118.470010 deg.

2021-08-13T01:24:26.926Z,1628817866.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:27.293Z,1628817867.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:27.293Z,1628817867.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:27.293Z,1628817867.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:27.294Z,1628817867.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:27.709Z,1628817867.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,003BB,182,80,80,7B,FF
2021-08-13T01:24:27.709Z,1628817867.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:27.710Z,1628817867.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:27.711Z,1628817867.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:28.105Z,1628817868.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:28.121Z,1628817868.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:24:28.509Z,1628817868.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0037D,186,80,80,7C,FF
2021-08-13T01:24:28.510Z,1628817868.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:28.530Z,1628817868.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:28.938Z,1628817868.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012429.24*54

2021-08-13T01:24:28.964Z,1628817868.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 111.045960 deg, deltaT: 4.404204 s, approachRate: -0.844648 m/s, LOS rate: -0.651526 deg/s, posRepo size: 4
2021-08-13T01:24:28.966Z,1628817868.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 111.045960 deg,
      approachRate: -0.844648 m/s,
      LOS rate: -0.651526 deg/s,
      cmd update: -1.954576 deg/s,
      cmd heading: 115.888322 deg,
      new cmd heading: 115.732634 deg.

2021-08-13T01:24:31.369Z,1628817871.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:31.737Z,1628817871.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:31.737Z,1628817871.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:31.737Z,1628817871.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:31.738Z,1628817871.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:32.137Z,1628817872.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0037D,186,80,80,7C,FF
2021-08-13T01:24:32.137Z,1628817872.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:32.137Z,1628817872.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:32.139Z,1628817872.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:32.544Z,1628817872.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:32.965Z,1628817872.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CB,000,0034E,186,80,80,5C,FF
2021-08-13T01:24:32.965Z,1628817872.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:33.039Z,1628817873.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:33.397Z,1628817873.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012433.67*58

2021-08-13T01:24:33.419Z,1628817873.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.260000 m, bearing: 110.561624 deg, deltaT: 4.508549 s, approachRate: -0.625477 m/s, LOS rate: -0.107426 deg/s, posRepo size: 4
2021-08-13T01:24:33.422Z,1628817873.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.260000 m,
      bearing: 110.561624 deg,
      approachRate: -0.625477 m/s,
      LOS rate: -0.107426 deg/s,
      cmd update: -0.322278 deg/s,
      cmd heading: 107.083881 deg,
      new cmd heading: 106.325896 deg.

2021-08-13T01:24:35.806Z,1628817875.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:36.177Z,1628817876.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:36.177Z,1628817876.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:36.177Z,1628817876.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:36.178Z,1628817876.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:36.593Z,1628817876.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CB,000,0034E,186,80,80,5C,FF
2021-08-13T01:24:36.594Z,1628817876.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:36.594Z,1628817876.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:36.595Z,1628817876.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:36.993Z,1628817876.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:37.383Z,1628817877.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,0030F,185,80,80,3E,FF
2021-08-13T01:24:37.383Z,1628817877.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:37.408Z,1628817877.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:37.821Z,1628817877.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012438.12*51

2021-08-13T01:24:37.883Z,1628817877.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 112.247691 deg, deltaT: 4.369575 s, approachRate: -0.865074 m/s, LOS rate: 0.385865 deg/s, posRepo size: 4
2021-08-13T01:24:37.891Z,1628817877.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 112.247691 deg,
      approachRate: -0.865074 m/s,
      LOS rate: 0.385865 deg/s,
      cmd update: 1.157595 deg/s,
      cmd heading: 105.674479 deg,
      new cmd heading: 105.520322 deg.

2021-08-13T01:24:38.219Z,1628817878.219 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:24:40.281Z,1628817880.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:40.641Z,1628817880.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:40.641Z,1628817880.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:40.641Z,1628817880.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:40.642Z,1628817880.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:41.029Z,1628817881.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,0030F,185,80,80,3E,FF
2021-08-13T01:24:41.029Z,1628817881.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:41.029Z,1628817881.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:41.031Z,1628817881.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:41.445Z,1628817881.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:41.842Z,1628817881.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,002E4,182,80,80,82,FF
2021-08-13T01:24:41.842Z,1628817881.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:41.980Z,1628817881.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:42.265Z,1628817882.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012442.56*5C

2021-08-13T01:24:42.315Z,1628817882.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 110.801460 deg, deltaT: 4.571920 s, approachRate: -0.564314 m/s, LOS rate: -0.316329 deg/s, posRepo size: 4
2021-08-13T01:24:42.317Z,1628817882.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 110.801460 deg,
      approachRate: -0.564314 m/s,
      LOS rate: -0.316329 deg/s,
      cmd update: -0.948987 deg/s,
      cmd heading: 110.929270 deg,
      new cmd heading: 111.358115 deg.

2021-08-13T01:24:44.724Z,1628817884.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:45.065Z,1628817885.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:45.065Z,1628817885.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:45.065Z,1628817885.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:45.066Z,1628817885.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:45.478Z,1628817885.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,002E4,182,80,80,82,FF
2021-08-13T01:24:45.478Z,1628817885.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:45.478Z,1628817885.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:45.479Z,1628817885.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:45.878Z,1628817885.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:46.273Z,1628817886.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,002C0,184,80,80,80,FF
2021-08-13T01:24:46.274Z,1628817886.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:46.356Z,1628817886.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:46.741Z,1628817886.741 [Micromodem](INFO): Nmea in: $SNTTA,,0.033876,,,012447.01*4C

2021-08-13T01:24:46.785Z,1628817886.785 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T01:24:46.786Z,1628817886.786 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:24:46.786Z,1628817886.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T01:24:46.786Z,1628817886.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:24:46.786Z,1628817886.786 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T01:24:46.787Z,1628817886.787 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T01:24:46.787Z,1628817886.787 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T01:24:46.787Z,1628817886.787 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T01:24:46.787Z,1628817886.787 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T01:24:46.794Z,1628817886.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 112.214332 deg, deltaT: 4.376002 s, approachRate: -0.493601 m/s, LOS rate: 0.322868 deg/s, posRepo size: 4
2021-08-13T01:24:46.800Z,1628817886.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 112.214332 deg,
      approachRate: -0.493601 m/s,
      LOS rate: 0.322868 deg/s,
      cmd update: 0.968605 deg/s,
      cmd heading: 106.753730 deg,
      new cmd heading: 106.327271 deg.

2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T012447: (41.552319, -70.708603)
2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T01:24:47.125Z,1628817887.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:24:47.126Z,1628817887.126 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T01:24:47.126Z,1628817887.126 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T01:24:47.126Z,1628817887.126 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:24:47.996Z,1628817887.996 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:24:49.143Z,1628817889.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:49.513Z,1628817889.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:49.513Z,1628817889.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:49.513Z,1628817889.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:49.514Z,1628817889.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:49.929Z,1628817889.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,002C0,184,80,80,80,FF
2021-08-13T01:24:49.930Z,1628817889.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:49.930Z,1628817889.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:49.936Z,1628817889.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:50.320Z,1628817890.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:50.741Z,1628817890.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,002C0,183,80,80,CC,FF
2021-08-13T01:24:50.741Z,1628817890.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:50.807Z,1628817890.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:51.149Z,1628817891.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012451.46*5F

2021-08-13T01:24:51.197Z,1628817891.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 111.760575 deg, deltaT: 4.450697 s, approachRate: 0.000000 m/s, LOS rate: -0.101952 deg/s, posRepo size: 4
2021-08-13T01:24:51.199Z,1628817891.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 111.760575 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.101952 deg/s,
      cmd update: -0.305856 deg/s,
      cmd heading: 111.073302 deg,
      new cmd heading: 111.450081 deg.

2021-08-13T01:24:53.583Z,1628817893.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:53.993Z,1628817893.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:53.993Z,1628817893.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:53.993Z,1628817893.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:53.994Z,1628817893.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:54.369Z,1628817894.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,002C0,183,80,80,CC,FF
2021-08-13T01:24:54.369Z,1628817894.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:54.369Z,1628817894.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:54.371Z,1628817894.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:54.769Z,1628817894.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:55.170Z,1628817895.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,002DE,187,80,80,5F,FF
2021-08-13T01:24:55.170Z,1628817895.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:55.195Z,1628817895.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:24:55.605Z,1628817895.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012455.90*50

2021-08-13T01:24:55.641Z,1628817895.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 109.190717 deg, deltaT: 4.387883 s, approachRate: 0.410221 m/s, LOS rate: -0.585672 deg/s, posRepo size: 4
2021-08-13T01:24:55.643Z,1628817895.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 109.190717 deg,
      approachRate: 0.410221 m/s,
      LOS rate: -0.585672 deg/s,
      cmd update: -1.757015 deg/s,
      cmd heading: 109.731323 deg,
      new cmd heading: 109.594421 deg.

2021-08-13T01:24:58.034Z,1628817898.034 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T01:24:58.081Z,1628817898.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:24:58.401Z,1628817898.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:24:58.401Z,1628817898.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:24:58.401Z,1628817898.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:24:58.402Z,1628817898.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:24:58.813Z,1628817898.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,002DE,187,80,80,5F,FF
2021-08-13T01:24:58.813Z,1628817898.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:24:58.813Z,1628817898.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:24:58.815Z,1628817898.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:24:59.214Z,1628817899.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:24:59.621Z,1628817899.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00307,186,80,80,43,FF
2021-08-13T01:24:59.622Z,1628817899.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:24:59.645Z,1628817899.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:00.061Z,1628817900.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012500.34*5F

2021-08-13T01:25:00.121Z,1628817900.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 122.035632 deg, deltaT: 4.451239 s, approachRate: 0.552655 m/s, LOS rate: 2.885694 deg/s, posRepo size: 4
2021-08-13T01:25:00.123Z,1628817900.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 122.035632 deg,
      approachRate: 0.552655 m/s,
      LOS rate: 2.885694 deg/s,
      cmd update: 8.657083 deg/s,
      cmd heading: 101.917591 deg,
      new cmd heading: 101.070798 deg.

2021-08-13T01:25:02.455Z,1628817902.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:02.858Z,1628817902.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:02.858Z,1628817902.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:02.858Z,1628817902.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:02.859Z,1628817902.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:03.245Z,1628817903.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00307,186,80,80,43,FF
2021-08-13T01:25:03.245Z,1628817903.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:03.245Z,1628817903.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:03.247Z,1628817903.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:03.671Z,1628817903.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:04.057Z,1628817904.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00343,184,80,80,51,FF
2021-08-13T01:25:04.057Z,1628817904.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:04.169Z,1628817904.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:04.501Z,1628817904.501 [Micromodem](INFO): Nmea in: $SNTTA,0.045311,,,,012504.78*4F

2021-08-13T01:25:04.536Z,1628817904.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 111.539093 deg, deltaT: 4.522849 s, approachRate: 0.795958 m/s, LOS rate: -2.320780 deg/s, posRepo size: 4
2021-08-13T01:25:04.538Z,1628817904.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 111.539093 deg,
      approachRate: 0.795958 m/s,
      LOS rate: -2.320780 deg/s,
      cmd update: -6.962341 deg/s,
      cmd heading: 141.074979 deg,
      new cmd heading: 144.312053 deg.

2021-08-13T01:25:06.936Z,1628817906.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:07.289Z,1628817907.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:07.289Z,1628817907.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:07.289Z,1628817907.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:07.290Z,1628817907.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:07.725Z,1628817907.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00343,184,80,80,51,FF
2021-08-13T01:25:07.725Z,1628817907.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:07.725Z,1628817907.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:07.727Z,1628817907.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:08.154Z,1628817908.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:08.561Z,1628817908.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0037A,187,80,80,4F,FF
2021-08-13T01:25:08.561Z,1628817908.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:08.582Z,1628817908.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:09.003Z,1628817909.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 127.650826 deg, deltaT: 4.412782 s, approachRate: 0.747827 m/s, LOS rate: 3.651151 deg/s, posRepo size: 4
2021-08-13T01:25:09.004Z,1628817909.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.90 m. Rolling out.
2021-08-13T01:25:09.005Z,1628817909.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T01:25:11.406Z,1628817911.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:11.793Z,1628817911.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:11.793Z,1628817911.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:11.793Z,1628817911.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:11.794Z,1628817911.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:12.189Z,1628817912.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,0037A,187,80,80,4F,FF
2021-08-13T01:25:12.189Z,1628817912.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:12.189Z,1628817912.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:12.191Z,1628817912.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:12.616Z,1628817912.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:13.009Z,1628817913.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,003A9,189,80,80,44,FF
2021-08-13T01:25:13.009Z,1628817913.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:13.061Z,1628817913.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:13.446Z,1628817913.446 [Micromodem](INFO): Nmea in: $SNTTA,0.022406,,,,012513.72*43

2021-08-13T01:25:13.468Z,1628817913.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 167.806246 deg, deltaT: 4.479064 s, approachRate: 0.629596 m/s, LOS rate: 8.965136 deg/s, posRepo size: 4
2021-08-13T01:25:15.965Z,1628817915.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:16.237Z,1628817916.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:16.237Z,1628817916.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:16.237Z,1628817916.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:16.238Z,1628817916.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:16.647Z,1628817916.647 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,003A9,189,80,80,44,FF
2021-08-13T01:25:16.647Z,1628817916.647 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:16.647Z,1628817916.647 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:16.650Z,1628817916.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:17.048Z,1628817917.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:17.875Z,1628817917.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012518.18*58

2021-08-13T01:25:18.276Z,1628817918.276 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T01:25:18.734Z,1628817918.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:20.265Z,1628817920.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:20.265Z,1628817920.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:20.266Z,1628817920.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:25:21.544Z,1628817921.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:21.912Z,1628817921.912 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:21.913Z,1628817921.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:21.914Z,1628817921.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:21.915Z,1628817921.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:22.290Z,1628817922.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:22.291Z,1628817922.291 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:22.291Z,1628817922.291 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:22.293Z,1628817922.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:22.725Z,1628817922.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:23.526Z,1628817923.526 [Micromodem](INFO): Nmea in: $SNTTA,0.023293,,,,012523.82*44

2021-08-13T01:25:24.055Z,1628817924.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:25.972Z,1628817925.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:25.972Z,1628817925.972 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:25.972Z,1628817925.972 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:25:26.777Z,1628817926.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:27.145Z,1628817927.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:27.145Z,1628817927.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:27.145Z,1628817927.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:27.146Z,1628817927.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:27.549Z,1628817927.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,44,FF
2021-08-13T01:25:27.549Z,1628817927.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:27.549Z,1628817927.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:27.551Z,1628817927.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:28.027Z,1628817928.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:28.064Z,1628817928.064 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T01:25:28.355Z,1628817928.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,0045C,183,80,80,5F,FF
2021-08-13T01:25:28.356Z,1628817928.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:28.359Z,1628817928.359 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:25:28.377Z,1628817928.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:28.795Z,1628817928.795 [Micromodem](INFO): Nmea in: $SNTTA,0.062090,,,,012529.08*48

2021-08-13T01:25:28.878Z,1628817928.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 118.566620 deg, deltaT: 15.315932 s, approachRate: 0.701231 m/s, LOS rate: -3.214928 deg/s, posRepo size: 4
2021-08-13T01:25:31.195Z,1628817931.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:31.577Z,1628817931.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:31.577Z,1628817931.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:31.577Z,1628817931.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:31.578Z,1628817931.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:32.017Z,1628817932.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,0045C,183,80,80,5F,FF
2021-08-13T01:25:32.017Z,1628817932.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:32.017Z,1628817932.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:32.019Z,1628817932.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:32.401Z,1628817932.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:32.801Z,1628817932.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00487,184,80,80,66,FF
2021-08-13T01:25:32.801Z,1628817932.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:32.832Z,1628817932.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:33.223Z,1628817933.223 [Micromodem](INFO): Nmea in: $SNTTA,0.067418,,,,012533.55*4A

2021-08-13T01:25:33.251Z,1628817933.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 112.267758 deg, deltaT: 4.455495 s, approachRate: 0.579060 m/s, LOS rate: -1.413729 deg/s, posRepo size: 4
2021-08-13T01:25:35.669Z,1628817935.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:36.033Z,1628817936.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:36.033Z,1628817936.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:36.033Z,1628817936.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:36.034Z,1628817936.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:36.437Z,1628817936.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00487,184,80,80,66,FF
2021-08-13T01:25:36.437Z,1628817936.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:36.437Z,1628817936.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:36.439Z,1628817936.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:36.847Z,1628817936.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:37.249Z,1628817937.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00517,183,80,80,71,FF
2021-08-13T01:25:37.249Z,1628817937.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:37.269Z,1628817937.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:25:37.698Z,1628817937.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012537.97*52

2021-08-13T01:25:37.729Z,1628817937.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 116.399018 deg, deltaT: 4.436974 s, approachRate: 1.947273 m/s, LOS rate: 0.931099 deg/s, posRepo size: 4
2021-08-13T01:25:38.105Z,1628817938.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:25:38.105Z,1628817938.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:25:38.105Z,1628817938.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:25:38.106Z,1628817938.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:25:38.106Z,1628817938.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:25:38.106Z,1628817938.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:25:38.500Z,1628817938.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:25:38.500Z,1628817938.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:25:38.500Z,1628817938.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:25:38.500Z,1628817938.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:25:40.131Z,1628817940.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:40.477Z,1628817940.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:40.477Z,1628817940.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:40.477Z,1628817940.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:40.478Z,1628817940.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:40.889Z,1628817940.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00517,183,80,80,71,FF
2021-08-13T01:25:40.890Z,1628817940.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:40.890Z,1628817940.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:40.891Z,1628817940.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:41.297Z,1628817941.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:42.115Z,1628817942.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012542.42*58

2021-08-13T01:25:42.946Z,1628817942.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:44.518Z,1628817944.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,183,80,80,71,FF
2021-08-13T01:25:44.518Z,1628817944.518 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,183,80,80,71,FF
2021-08-13T01:25:44.518Z,1628817944.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:25:45.773Z,1628817945.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:46.141Z,1628817946.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:46.141Z,1628817946.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:46.141Z,1628817946.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:46.142Z,1628817946.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:46.549Z,1628817946.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,183,80,80,71,FF
2021-08-13T01:25:46.549Z,1628817946.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:46.549Z,1628817946.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:46.551Z,1628817946.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:46.969Z,1628817946.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:47.781Z,1628817947.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00E7C,185,80,80,61,FF
2021-08-13T01:25:47.781Z,1628817947.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:47.807Z,1628817947.807 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012548.08*5C

2021-08-13T01:25:48.212Z,1628817948.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.980011 m, bearing: 111.700210 deg, deltaT: 10.590294 s, approachRate: 13.625686 m/s, LOS rate: -0.443690 deg/s, posRepo size: 4
2021-08-13T01:25:48.213Z,1628817948.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 184.98 m. Resuming terminal guidance.
2021-08-13T01:25:48.213Z,1628817948.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:25:50.599Z,1628817950.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:50.981Z,1628817950.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:50.981Z,1628817950.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:50.981Z,1628817950.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:50.982Z,1628817950.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:51.389Z,1628817951.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00E7C,185,80,80,61,FF
2021-08-13T01:25:51.389Z,1628817951.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:51.389Z,1628817951.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:51.391Z,1628817951.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:51.797Z,1628817951.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:52.201Z,1628817952.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,005A8,184,80,80,94,FF
2021-08-13T01:25:52.202Z,1628817952.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:25:52.641Z,1628817952.641 [Micromodem](INFO): Nmea in: $SNTTA,0.209449,,,,012552.92*48

2021-08-13T01:25:52.721Z,1628817952.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.380005 m, bearing: 112.721672 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:25:52.721Z,1628817952.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 112.721672deg and heading rate command to 0 deg/s.
2021-08-13T01:25:55.078Z,1628817955.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:55.425Z,1628817955.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:25:55.425Z,1628817955.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:25:55.425Z,1628817955.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:25:55.426Z,1628817955.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:25:55.837Z,1628817955.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,005A8,184,80,80,94,FF
2021-08-13T01:25:55.837Z,1628817955.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:25:55.837Z,1628817955.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:25:55.839Z,1628817955.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:25:56.245Z,1628817956.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:25:57.078Z,1628817957.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012557.37*5E

2021-08-13T01:25:57.900Z,1628817957.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:25:59.465Z,1628817959.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,94,FF
2021-08-13T01:25:59.465Z,1628817959.465 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,94,FF
2021-08-13T01:25:59.465Z,1628817959.465 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:26:00.741Z,1628817960.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:01.092Z,1628817961.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:01.093Z,1628817961.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:01.093Z,1628817961.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:01.094Z,1628817961.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:01.481Z,1628817961.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,94,FF
2021-08-13T01:26:01.481Z,1628817961.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:01.482Z,1628817961.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:01.483Z,1628817961.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:01.919Z,1628817961.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:02.733Z,1628817962.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,011A6,186,80,80,69,FF
2021-08-13T01:26:02.734Z,1628817962.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:02.737Z,1628817962.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012603.01*59

2021-08-13T01:26:03.136Z,1628817963.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.579987 m, bearing: 127.915851 deg, deltaT: 10.488589 s, approachRate: 17.561941 m/s, LOS rate: 1.448639 deg/s, posRepo size: 2
2021-08-13T01:26:03.138Z,1628817963.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.579987 m,
      bearing: 127.915851 deg,
      approachRate: 17.561941 m/s,
      LOS rate: 1.448639 deg/s,
      cmd update: 4.345917 deg/s,
      cmd heading: 112.721672 deg,
      new cmd heading: 112.721672 deg.

2021-08-13T01:26:05.559Z,1628817965.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:05.937Z,1628817965.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:05.937Z,1628817965.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:05.938Z,1628817965.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:05.939Z,1628817965.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:06.333Z,1628817966.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,011A6,186,80,80,69,FF
2021-08-13T01:26:06.333Z,1628817966.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:06.333Z,1628817966.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:06.335Z,1628817966.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:06.748Z,1628817966.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:07.149Z,1628817967.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,00635,186,80,80,62,FF
2021-08-13T01:26:07.150Z,1628817967.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:07.577Z,1628817967.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012607.86*52

2021-08-13T01:26:07.611Z,1628817967.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 138.035309 deg, deltaT: 4.444277 s, approachRate: -39.542988 m/s, LOS rate: 2.276964 deg/s, posRepo size: 3
2021-08-13T01:26:07.613Z,1628817967.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.840004 m,
      bearing: 138.035309 deg,
      approachRate: -39.542988 m/s,
      LOS rate: 2.276964 deg/s,
      cmd update: 6.830892 deg/s,
      cmd heading: 132.036731 deg,
      new cmd heading: 133.796119 deg.

2021-08-13T01:26:10.091Z,1628817970.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:10.385Z,1628817970.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:10.385Z,1628817970.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:10.385Z,1628817970.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:10.386Z,1628817970.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:10.773Z,1628817970.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,00635,186,80,80,62,FF
2021-08-13T01:26:10.773Z,1628817970.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:10.773Z,1628817970.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:10.775Z,1628817970.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:11.201Z,1628817971.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:11.586Z,1628817971.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00671,186,80,80,2E,FF
2021-08-13T01:26:11.586Z,1628817971.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:12.037Z,1628817972.037 [Micromodem](INFO): Nmea in: $SNTTA,0.480417,0.478404,,,012612.30*5E

2021-08-13T01:26:12.137Z,1628817972.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 139.747310 deg, deltaT: 4.435431 s, approachRate: 0.811645 m/s, LOS rate: 0.385983 deg/s, posRepo size: 4
2021-08-13T01:26:12.139Z,1628817972.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 139.747310 deg,
      approachRate: 0.811645 m/s,
      LOS rate: 0.385983 deg/s,
      cmd update: 1.157949 deg/s,
      cmd heading: 162.320629 deg,
      new cmd heading: 165.689666 deg.

2021-08-13T01:26:14.465Z,1628817974.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:14.821Z,1628817974.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:14.821Z,1628817974.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:14.821Z,1628817974.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:14.822Z,1628817974.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:15.240Z,1628817975.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00671,186,80,80,2E,FF
2021-08-13T01:26:15.241Z,1628817975.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:15.241Z,1628817975.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:15.242Z,1628817975.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:15.646Z,1628817975.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:16.045Z,1628817976.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,0069F,187,80,80,8F,FF
2021-08-13T01:26:16.046Z,1628817976.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:16.465Z,1628817976.465 [Micromodem](INFO): Nmea in: $SNTTA,,0.056745,,,012616.77*47

2021-08-13T01:26:16.512Z,1628817976.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 165.274855 deg, deltaT: 4.499558 s, approachRate: 0.613395 m/s, LOS rate: 5.673345 deg/s, posRepo size: 4
2021-08-13T01:26:16.514Z,1628817976.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.200005 m,
      bearing: 165.274855 deg,
      approachRate: 0.613395 m/s,
      LOS rate: 5.673345 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.514252 deg,
      new cmd heading: 167.939336 deg.

2021-08-13T01:26:18.899Z,1628817978.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:19.270Z,1628817979.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:19.270Z,1628817979.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:19.271Z,1628817979.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:19.288Z,1628817979.288 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:19.680Z,1628817979.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,0069F,187,80,80,8F,FF
2021-08-13T01:26:19.681Z,1628817979.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:19.681Z,1628817979.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:19.687Z,1628817979.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:20.093Z,1628817980.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:20.469Z,1628817980.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,006BD,186,80,80,85,FF
2021-08-13T01:26:20.469Z,1628817980.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:20.898Z,1628817980.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012621.22*58

2021-08-13T01:26:20.943Z,1628817980.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 178.457175 deg, deltaT: 4.414144 s, approachRate: 0.407779 m/s, LOS rate: 2.986382 deg/s, posRepo size: 4
2021-08-13T01:26:20.945Z,1628817980.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 178.457175 deg,
      approachRate: 0.407779 m/s,
      LOS rate: 2.986382 deg/s,
      cmd update: 8.959145 deg/s,
      cmd heading: 220.677542 deg,
      new cmd heading: 225.333782 deg.

2021-08-13T01:26:23.348Z,1628817983.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:23.736Z,1628817983.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:23.737Z,1628817983.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:23.737Z,1628817983.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:23.738Z,1628817983.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:24.122Z,1628817984.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,006BD,186,80,80,85,FF
2021-08-13T01:26:24.122Z,1628817984.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:24.123Z,1628817984.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:24.126Z,1628817984.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:24.516Z,1628817984.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:24.917Z,1628817984.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,006D1,188,80,80,91,FF
2021-08-13T01:26:24.917Z,1628817984.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:25.345Z,1628817985.345 [Micromodem](INFO): Nmea in: $SNTTA,0.059410,,,,012625.65*48

2021-08-13T01:26:25.381Z,1628817985.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 159.478770 deg, deltaT: 4.441886 s, approachRate: 0.270155 m/s, LOS rate: -4.272601 deg/s, posRepo size: 4
2021-08-13T01:26:25.383Z,1628817985.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 159.478770 deg,
      approachRate: 0.270155 m/s,
      LOS rate: -4.272601 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 260.401399 deg,
      new cmd heading: 263.917066 deg.

2021-08-13T01:26:25.762Z,1628817985.762 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:26:27.788Z,1628817987.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:28.145Z,1628817988.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:28.145Z,1628817988.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:28.145Z,1628817988.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:28.146Z,1628817988.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:28.557Z,1628817988.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,006D1,188,80,80,91,FF
2021-08-13T01:26:28.557Z,1628817988.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:28.557Z,1628817988.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:28.559Z,1628817988.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:28.967Z,1628817988.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:29.786Z,1628817989.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012630.08*50

2021-08-13T01:26:30.601Z,1628817990.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:32.185Z,1628817992.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,188,80,80,91,FF
2021-08-13T01:26:32.185Z,1628817992.185 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,188,80,80,91,FF
2021-08-13T01:26:32.185Z,1628817992.185 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:26:33.414Z,1628817993.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:33.801Z,1628817993.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:33.801Z,1628817993.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:33.801Z,1628817993.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:33.802Z,1628817993.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:34.209Z,1628817994.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,188,80,80,91,FF
2021-08-13T01:26:34.209Z,1628817994.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:34.209Z,1628817994.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:34.211Z,1628817994.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:34.612Z,1628817994.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:35.013Z,1628817995.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,006DB,18A,80,80,63,FF
2021-08-13T01:26:35.014Z,1628817995.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:35.457Z,1628817995.457 [Micromodem](INFO): Nmea in: $SNTTA,0.050009,,,,012635.74*4C

2021-08-13T01:26:35.480Z,1628817995.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 287.735406 deg, deltaT: 10.082486 s, approachRate: 0.059510 m/s, LOS rate: 12.720736 deg/s, posRepo size: 4
2021-08-13T01:26:35.481Z,1628817995.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.720736 deg/s. Setting heading cmd to target bearing of 287.735406deg and heading rate command to 0 deg/s.
2021-08-13T01:26:37.893Z,1628817997.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:38.257Z,1628817998.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:38.257Z,1628817998.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:38.257Z,1628817998.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:38.258Z,1628817998.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:38.664Z,1628817998.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,006DB,18A,80,80,63,FF
2021-08-13T01:26:38.665Z,1628817998.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:38.665Z,1628817998.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:38.673Z,1628817998.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:39.064Z,1628817999.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:39.465Z,1628817999.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,006D8,185,80,80,7D,FF
2021-08-13T01:26:39.466Z,1628817999.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:39.894Z,1628817999.894 [Micromodem](INFO): Nmea in: $SNTTA,0.053774,,,,012640.20*41

2021-08-13T01:26:39.982Z,1628817999.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 230.671170 deg, deltaT: 4.403141 s, approachRate: -0.040883 m/s, LOS rate: -12.959893 deg/s, posRepo size: 4
2021-08-13T01:26:39.982Z,1628817999.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.959893 deg/s. Setting heading cmd to target bearing of 230.671170deg and heading rate command to 0 deg/s.
2021-08-13T01:26:41.989Z,1628818001.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:42.285Z,1628818002.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:42.285Z,1628818002.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:42.285Z,1628818002.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:42.286Z,1628818002.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:42.705Z,1628818002.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,006D8,185,80,80,7D,FF
2021-08-13T01:26:42.705Z,1628818002.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:42.705Z,1628818002.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:42.707Z,1628818002.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:43.106Z,1628818003.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:43.501Z,1628818003.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE4,000,006E6,189,80,80,70,FF
2021-08-13T01:26:43.502Z,1628818003.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:43.964Z,1628818003.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012644.23*5A

2021-08-13T01:26:44.022Z,1628818004.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 234.110116 deg, deltaT: 4.067376 s, approachRate: 0.206522 m/s, LOS rate: 0.845495 deg/s, posRepo size: 4
2021-08-13T01:26:44.024Z,1628818004.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.459999 m,
      bearing: 234.110116 deg,
      approachRate: 0.206522 m/s,
      LOS rate: 0.845495 deg/s,
      cmd update: 2.536485 deg/s,
      cmd heading: 230.671170 deg,
      new cmd heading: 230.671170 deg.

2021-08-13T01:26:46.383Z,1628818006.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:46.745Z,1628818006.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:46.745Z,1628818006.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:46.745Z,1628818006.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:46.746Z,1628818006.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:47.133Z,1628818007.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE4,000,006E6,189,80,80,70,FF
2021-08-13T01:26:47.133Z,1628818007.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:47.134Z,1628818007.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:47.135Z,1628818007.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:47.537Z,1628818007.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:47.970Z,1628818007.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,006F1,186,80,80,84,FF
2021-08-13T01:26:47.970Z,1628818007.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:48.370Z,1628818008.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012648.69*58

2021-08-13T01:26:48.391Z,1628818008.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 176.465710 deg, deltaT: 4.545265 s, approachRate: 0.145207 m/s, LOS rate: -12.682298 deg/s, posRepo size: 4
2021-08-13T01:26:48.392Z,1628818008.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.682298 deg/s. Setting heading cmd to target bearing of 176.465710deg and heading rate command to 0 deg/s.
2021-08-13T01:26:50.798Z,1628818010.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:51.177Z,1628818011.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:51.177Z,1628818011.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:51.178Z,1628818011.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:51.179Z,1628818011.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:51.581Z,1628818011.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,006F1,186,80,80,84,FF
2021-08-13T01:26:51.581Z,1628818011.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:51.581Z,1628818011.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:51.583Z,1628818011.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:52.013Z,1628818012.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:52.389Z,1628818012.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,006FB,189,80,80,A4,FF
2021-08-13T01:26:52.389Z,1628818012.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:52.854Z,1628818012.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 248.509302 deg, deltaT: 4.310677 s, approachRate: 0.139189 m/s, LOS rate: 16.712826 deg/s, posRepo size: 4
2021-08-13T01:26:52.860Z,1628818012.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.712826 deg/s. Setting heading cmd to target bearing of 248.509302deg and heading rate command to 0 deg/s.
2021-08-13T01:26:55.256Z,1628818015.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:26:55.625Z,1628818015.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:26:55.625Z,1628818015.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:26:55.625Z,1628818015.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:26:55.626Z,1628818015.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:26:56.025Z,1628818016.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,006FB,189,80,80,A4,FF
2021-08-13T01:26:56.025Z,1628818016.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:26:56.025Z,1628818016.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:26:56.027Z,1628818016.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:26:56.437Z,1628818016.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:26:56.829Z,1628818016.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,006FB,186,80,80,AE,FF
2021-08-13T01:26:56.830Z,1628818016.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:26:57.281Z,1628818017.281 [Micromodem](INFO): Nmea in: $SNTTA,0.046121,,,,012657.55*47

2021-08-13T01:26:57.303Z,1628818017.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 252.131297 deg, deltaT: 4.495678 s, approachRate: 0.000000 m/s, LOS rate: 0.805661 deg/s, posRepo size: 4
2021-08-13T01:26:57.305Z,1628818017.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 252.131297 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.805661 deg/s,
      cmd update: 2.416985 deg/s,
      cmd heading: 248.509302 deg,
      new cmd heading: 248.509302 deg.

2021-08-13T01:26:59.725Z,1628818019.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:00.065Z,1628818020.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:00.065Z,1628818020.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:00.065Z,1628818020.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:00.066Z,1628818020.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:00.473Z,1628818020.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,006FB,186,80,80,AE,FF
2021-08-13T01:27:00.473Z,1628818020.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:00.473Z,1628818020.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:00.475Z,1628818020.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:00.878Z,1628818020.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:01.721Z,1628818021.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012702.00*58

2021-08-13T01:27:02.518Z,1628818022.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:04.101Z,1628818024.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:04.101Z,1628818024.101 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:04.101Z,1628818024.101 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:27:05.351Z,1628818025.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:05.733Z,1628818025.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:05.733Z,1628818025.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:05.733Z,1628818025.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:05.734Z,1628818025.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:06.133Z,1628818026.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:06.133Z,1628818026.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:06.133Z,1628818026.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:06.135Z,1628818026.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:06.533Z,1628818026.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:07.374Z,1628818027.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012707.66*5D

2021-08-13T01:27:08.187Z,1628818028.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:08.586Z,1628818028.586 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T01:27:08.587Z,1628818028.587 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T01:27:08.587Z,1628818028.587 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T01:27:08.587Z,1628818028.587 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T01:27:08.587Z,1628818028.587 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T01:27:09.111Z,1628818029.111 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B6AD1561240000005D00000400260000000000000000151D80030C5669C08C79983DCF9ED693B63E4080B3587CBA8CA0BE123E62675C69663D9E00
2021-08-13T01:27:09.111Z,1628818029.111 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T01:27:09.404Z,1628818029.404 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T01:27:09.793Z,1628818029.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:09.793Z,1628818029.793 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:09.793Z,1628818029.793 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:27:09.795Z,1628818029.795 [Micromodem](INFO): Nmea in: $CADRQ,012710,1,10,0,64,1*73

2021-08-13T01:27:09.795Z,1628818029.795 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561240000005D00000400260000000000000000151D80030C5669C08C79983DCF9ED693B63E4080B3587CBA8CA0BE123E62675C69663D9E00*32

2021-08-13T01:27:10.206Z,1628818030.206 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-13T01:27:10.602Z,1628818030.602 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-13T01:27:10.831Z,1628818030.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:11.005Z,1628818031.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:11.005Z,1628818031.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:11.005Z,1628818031.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:11.006Z,1628818031.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:11.417Z,1628818031.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:11.417Z,1628818031.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:11.417Z,1628818031.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:11.419Z,1628818031.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:11.842Z,1628818031.842 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-13T01:27:11.843Z,1628818031.843 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-13T01:27:12.223Z,1628818032.223 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,012711.340592,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*54

2021-08-13T01:27:12.223Z,1628818032.223 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,012711.340592,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*54

2021-08-13T01:27:13.458Z,1628818033.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:13.843Z,1628818033.843 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T01:27:13.861Z,1628818033.861 [Micromodem](INFO): Sent 51 bytes from file Logs/20210812T232438/Courier0036.lzma.parts
2021-08-13T01:27:13.861Z,1628818033.861 [Micromodem](INFO): Packets left to send: 0
2021-08-13T01:27:14.246Z,1628818034.246 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813012714.234677,06,32767,45,0110,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.7,7.10,14,-4.10,-01,-0.48,39,14500,4000*42

2021-08-13T01:27:14.246Z,1628818034.246 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813012714.234677,06,32767,45,0110,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,19.7,7.10,14,-4.10,-01,-0.48,39,14500,4000*42

2021-08-13T01:27:14.459Z,1628818034.459 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T01:27:14.459Z,1628818034.459 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T01:27:14.459Z,1628818034.459 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T01:27:14.459Z,1628818034.459 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T01:27:14.459Z,1628818034.459 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T01:27:16.072Z,1628818036.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:17.202Z,1628818037.202 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.195932
2021-08-13T01:27:18.853Z,1628818038.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:19.213Z,1628818039.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:19.213Z,1628818039.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:19.214Z,1628818039.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:19.215Z,1628818039.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:19.609Z,1628818039.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,AE,FF
2021-08-13T01:27:19.609Z,1628818039.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:19.609Z,1628818039.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:21.710Z,1628818041.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:22.446Z,1628818042.446 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:22.858Z,1628818042.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:23.251Z,1628818043.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,006A7,186,80,80,B9,FF
2021-08-13T01:27:23.251Z,1628818043.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:23.717Z,1628818043.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012723.97*55

2021-08-13T01:27:23.743Z,1628818043.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 331.607569 deg, deltaT: 26.366438 s, approachRate: -0.191152 m/s, LOS rate: 3.014297 deg/s, posRepo size: 4
2021-08-13T01:27:23.745Z,1628818043.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.680008 m,
      bearing: 331.607569 deg,
      approachRate: -0.191152 m/s,
      LOS rate: 3.014297 deg/s,
      cmd update: 9.042890 deg/s,
      cmd heading: 312.245933 deg,
      new cmd heading: 313.392677 deg.

2021-08-13T01:27:26.133Z,1628818046.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:26.477Z,1628818046.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:26.478Z,1628818046.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:26.478Z,1628818046.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:26.479Z,1628818046.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:26.889Z,1628818046.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,006A7,186,80,80,B9,FF
2021-08-13T01:27:26.889Z,1628818046.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:26.890Z,1628818046.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:26.895Z,1628818046.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:27.286Z,1628818047.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:27.717Z,1628818047.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,0067D,186,80,80,5A,FF
2021-08-13T01:27:27.718Z,1628818047.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:28.167Z,1628818048.167 [Micromodem](INFO): Nmea in: $SNTTA,0.050240,,,,012728.42*4B

2021-08-13T01:27:28.203Z,1628818048.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 328.315391 deg, deltaT: 4.506256 s, approachRate: -0.559224 m/s, LOS rate: -0.730580 deg/s, posRepo size: 4
2021-08-13T01:27:28.205Z,1628818048.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.160004 m,
      bearing: 328.315391 deg,
      approachRate: -0.559224 m/s,
      LOS rate: -0.730580 deg/s,
      cmd update: -2.191739 deg/s,
      cmd heading: 352.960101 deg,
      new cmd heading: 356.870563 deg.

2021-08-13T01:27:30.557Z,1628818050.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:30.929Z,1628818050.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:30.930Z,1628818050.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:30.930Z,1628818050.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:30.931Z,1628818050.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:31.325Z,1628818051.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,0067D,186,80,80,5A,FF
2021-08-13T01:27:31.325Z,1628818051.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:31.325Z,1628818051.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:31.327Z,1628818051.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:31.922Z,1628818051.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:32.217Z,1628818052.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,00655,186,80,80,A6,FF
2021-08-13T01:27:32.217Z,1628818052.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:32.655Z,1628818052.655 [Micromodem](INFO): Nmea in: $SNTTA,0.052404,,,,012732.86*4C

2021-08-13T01:27:32.711Z,1628818052.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 328.434946 deg, deltaT: 4.546844 s, approachRate: -0.527840 m/s, LOS rate: 0.026294 deg/s, posRepo size: 4
2021-08-13T01:27:32.714Z,1628818052.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 328.434946 deg,
      approachRate: -0.527840 m/s,
      LOS rate: 0.026294 deg/s,
      cmd update: 0.078883 deg/s,
      cmd heading: 342.994686 deg,
      new cmd heading: 342.130931 deg.

2021-08-13T01:27:35.097Z,1628818055.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:35.457Z,1628818055.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:35.457Z,1628818055.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:35.457Z,1628818055.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:35.458Z,1628818055.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:35.866Z,1628818055.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,00655,186,80,80,A6,FF
2021-08-13T01:27:35.867Z,1628818055.867 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:35.867Z,1628818055.867 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:35.872Z,1628818055.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:36.265Z,1628818056.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:36.686Z,1628818056.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0062A,189,80,80,86,FF
2021-08-13T01:27:36.687Z,1628818056.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:37.105Z,1628818057.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012737.40*5A

2021-08-13T01:27:37.128Z,1628818057.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 322.233463 deg, deltaT: 4.433370 s, approachRate: -0.581949 m/s, LOS rate: -1.398819 deg/s, posRepo size: 4
2021-08-13T01:27:37.130Z,1628818057.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.180004 m,
      bearing: 322.233463 deg,
      approachRate: -0.581949 m/s,
      LOS rate: -1.398819 deg/s,
      cmd update: -4.196458 deg/s,
      cmd heading: 343.344404 deg,
      new cmd heading: 343.374137 deg.

2021-08-13T01:27:39.522Z,1628818059.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:39.931Z,1628818059.931 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:39.932Z,1628818059.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:39.933Z,1628818059.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:39.934Z,1628818059.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:40.309Z,1628818060.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0062A,189,80,80,86,FF
2021-08-13T01:27:40.309Z,1628818060.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:40.309Z,1628818060.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:40.311Z,1628818060.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:40.745Z,1628818060.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:41.105Z,1628818061.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,005F9,186,80,80,BA,FF
2021-08-13T01:27:41.105Z,1628818061.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:41.553Z,1628818061.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012741.84*53

2021-08-13T01:27:41.580Z,1628818061.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 326.302671 deg, deltaT: 4.366987 s, approachRate: -0.673234 m/s, LOS rate: 0.931811 deg/s, posRepo size: 4
2021-08-13T01:27:41.582Z,1628818061.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.239998 m,
      bearing: 326.302671 deg,
      approachRate: -0.673234 m/s,
      LOS rate: 0.931811 deg/s,
      cmd update: 2.795434 deg/s,
      cmd heading: 325.001500 deg,
      new cmd heading: 323.077717 deg.

2021-08-13T01:27:44.058Z,1628818064.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:44.349Z,1628818064.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:44.349Z,1628818064.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:44.349Z,1628818064.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:44.350Z,1628818064.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:44.765Z,1628818064.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,005F9,186,80,80,BA,FF
2021-08-13T01:27:44.765Z,1628818064.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:44.766Z,1628818064.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:44.768Z,1628818064.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:45.153Z,1628818065.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:45.566Z,1628818065.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,005CA,184,80,80,9A,FF
2021-08-13T01:27:45.567Z,1628818065.567 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:45.570Z,1628818065.570 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T01:27:46.025Z,1628818066.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012746.30*5B

2021-08-13T01:27:46.098Z,1628818066.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 328.170700 deg, deltaT: 4.485794 s, approachRate: -0.628650 m/s, LOS rate: 0.416432 deg/s, posRepo size: 4
2021-08-13T01:27:46.105Z,1628818066.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.420002 m,
      bearing: 328.170700 deg,
      approachRate: -0.628650 m/s,
      LOS rate: 0.416432 deg/s,
      cmd update: 1.249297 deg/s,
      cmd heading: 337.536651 deg,
      new cmd heading: 338.913243 deg.

2021-08-13T01:27:48.148Z,1628818068.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:48.397Z,1628818068.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:48.397Z,1628818068.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:48.397Z,1628818068.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:48.398Z,1628818068.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:48.809Z,1628818068.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,005CA,184,80,80,9A,FF
2021-08-13T01:27:48.809Z,1628818068.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:48.809Z,1628818068.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:48.811Z,1628818068.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:49.197Z,1628818069.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:49.613Z,1628818069.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,005A4,186,80,80,7A,FF
2021-08-13T01:27:49.614Z,1628818069.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:50.053Z,1628818070.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012750.34*58

2021-08-13T01:27:50.114Z,1628818070.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 325.940343 deg, deltaT: 4.062972 s, approachRate: -0.561165 m/s, LOS rate: -0.548947 deg/s, posRepo size: 4
2021-08-13T01:27:50.120Z,1628818070.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 325.940343 deg,
      approachRate: -0.561165 m/s,
      LOS rate: -0.548947 deg/s,
      cmd update: -1.646842 deg/s,
      cmd heading: 342.590119 deg,
      new cmd heading: 343.168818 deg.

2021-08-13T01:27:52.450Z,1628818072.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:52.833Z,1628818072.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:52.834Z,1628818072.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:52.834Z,1628818072.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:52.835Z,1628818072.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:53.237Z,1628818073.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,005A4,186,80,80,7A,FF
2021-08-13T01:27:53.237Z,1628818073.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:53.237Z,1628818073.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:53.239Z,1628818073.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:53.645Z,1628818073.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:54.044Z,1628818074.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00575,187,80,80,7B,FF
2021-08-13T01:27:54.044Z,1628818074.044 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:54.474Z,1628818074.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012754.77*5B

2021-08-13T01:27:54.524Z,1628818074.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 320.866687 deg, deltaT: 4.453569 s, approachRate: -0.633201 m/s, LOS rate: -1.139234 deg/s, posRepo size: 4
2021-08-13T01:27:54.526Z,1628818074.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 320.866687 deg,
      approachRate: -0.633201 m/s,
      LOS rate: -1.139234 deg/s,
      cmd update: -3.417701 deg/s,
      cmd heading: 335.224793 deg,
      new cmd heading: 334.572473 deg.

2021-08-13T01:27:56.930Z,1628818076.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:27:57.273Z,1628818077.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:27:57.273Z,1628818077.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:27:57.273Z,1628818077.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:27:57.274Z,1628818077.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:27:57.702Z,1628818077.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00575,187,80,80,7B,FF
2021-08-13T01:27:57.702Z,1628818077.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:27:57.703Z,1628818077.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:27:57.705Z,1628818077.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:27:58.111Z,1628818078.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:27:58.477Z,1628818078.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0054A,186,80,80,AC,FF
2021-08-13T01:27:58.478Z,1628818078.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:27:58.913Z,1628818078.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012759.23*57

2021-08-13T01:27:58.947Z,1628818078.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 322.788484 deg, deltaT: 4.421450 s, approachRate: -0.583519 m/s, LOS rate: 0.434653 deg/s, posRepo size: 4
2021-08-13T01:27:58.949Z,1628818078.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.739998 m,
      bearing: 322.788484 deg,
      approachRate: -0.583519 m/s,
      LOS rate: 0.434653 deg/s,
      cmd update: 1.303959 deg/s,
      cmd heading: 320.244602 deg,
      new cmd heading: 318.738654 deg.

2021-08-13T01:28:01.323Z,1628818081.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:01.741Z,1628818081.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:01.741Z,1628818081.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:01.742Z,1628818081.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:01.742Z,1628818081.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:02.126Z,1628818082.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0054A,186,80,80,AC,FF
2021-08-13T01:28:02.126Z,1628818082.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:02.126Z,1628818082.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:02.128Z,1628818082.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:02.529Z,1628818082.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:02.933Z,1628818082.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0051A,184,80,80,9C,FF
2021-08-13T01:28:02.933Z,1628818082.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:03.363Z,1628818083.363 [Micromodem](INFO): Nmea in: $SNTTA,0.040291,,,,012803.65*45

2021-08-13T01:28:03.414Z,1628818083.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 324.656131 deg, deltaT: 4.438770 s, approachRate: -0.648829 m/s, LOS rate: 0.420758 deg/s, posRepo size: 4
2021-08-13T01:28:03.417Z,1628818083.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 324.656131 deg,
      approachRate: -0.648829 m/s,
      LOS rate: 0.420758 deg/s,
      cmd update: 1.262273 deg/s,
      cmd heading: 326.078264 deg,
      new cmd heading: 326.642523 deg.

2021-08-13T01:28:04.965Z,1628818084.965 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:28:05.807Z,1628818085.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:06.181Z,1628818086.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:06.181Z,1628818086.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:06.181Z,1628818086.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:06.183Z,1628818086.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:06.309Z,1628818086.309 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T01:28:06.568Z,1628818086.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0051A,184,80,80,9C,FF
2021-08-13T01:28:06.568Z,1628818086.568 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:06.569Z,1628818086.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:06.570Z,1628818086.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:06.976Z,1628818086.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:07.366Z,1628818087.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,004EA,186,80,80,AA,FF
2021-08-13T01:28:07.366Z,1628818087.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:07.817Z,1628818087.817 [Micromodem](INFO): Nmea in: $SNTTA,0.046269,,,,012808.10*4D

2021-08-13T01:28:07.877Z,1628818087.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 320.861414 deg, deltaT: 4.422697 s, approachRate: -0.651186 m/s, LOS rate: -0.858010 deg/s, posRepo size: 4
2021-08-13T01:28:07.877Z,1628818087.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2021-08-13T01:28:07.879Z,1628818087.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 320.861414 deg,
      approachRate: -0.651186 m/s,
      LOS rate: -0.858010 deg/s,
      cmd update: -2.574029 deg/s,
      cmd heading: 331.665829 deg,
      new cmd heading: 332.252643 deg.

2021-08-13T01:28:08.235Z,1628818088.235 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:28:08.311Z,1628818088.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:28:08.311Z,1628818088.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:28:08.311Z,1628818088.311 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:28:08.312Z,1628818088.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:28:08.312Z,1628818088.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:28:08.312Z,1628818088.312 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:28:08.637Z,1628818088.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:28:08.637Z,1628818088.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:28:08.637Z,1628818088.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:28:08.637Z,1628818088.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:28:09.945Z,1628818089.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:10.209Z,1628818090.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:10.209Z,1628818090.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:10.209Z,1628818090.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:10.210Z,1628818090.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:10.617Z,1628818090.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,004EA,186,80,80,AA,FF
2021-08-13T01:28:10.617Z,1628818090.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:10.617Z,1628818090.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:10.619Z,1628818090.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:11.021Z,1628818091.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:11.409Z,1628818091.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,004C3,186,80,80,54,FF
2021-08-13T01:28:11.410Z,1628818091.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:11.430Z,1628818091.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:11.862Z,1628818091.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012812.15*52

2021-08-13T01:28:11.897Z,1628818091.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 314.003932 deg, deltaT: 4.019946 s, approachRate: -0.582097 m/s, LOS rate: -1.705864 deg/s, posRepo size: 4
2021-08-13T01:28:11.897Z,1628818091.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-08-13T01:28:11.899Z,1628818091.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 314.003932 deg,
      approachRate: -0.582097 m/s,
      LOS rate: -1.705864 deg/s,
      cmd update: -5.117593 deg/s,
      cmd heading: 321.319332 deg,
      new cmd heading: 320.109364 deg.

2021-08-13T01:28:13.967Z,1628818093.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:14.256Z,1628818094.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:14.256Z,1628818094.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:14.256Z,1628818094.256 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:14.257Z,1628818094.257 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:14.656Z,1628818094.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,004C3,186,80,80,54,FF
2021-08-13T01:28:14.657Z,1628818094.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:14.658Z,1628818094.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:14.663Z,1628818094.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:15.069Z,1628818095.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:15.453Z,1628818095.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00497,186,80,80,85,FF
2021-08-13T01:28:15.453Z,1628818095.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:15.474Z,1628818095.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:15.888Z,1628818095.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012816.19*5A

2021-08-13T01:28:15.992Z,1628818095.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 319.285553 deg, deltaT: 4.044403 s, approachRate: -0.652755 m/s, LOS rate: 1.305909 deg/s, posRepo size: 4
2021-08-13T01:28:15.992Z,1628818095.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.00 m.
2021-08-13T01:28:15.995Z,1628818095.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.999996 m,
      bearing: 319.285553 deg,
      approachRate: -0.652755 m/s,
      LOS rate: 1.305909 deg/s,
      cmd update: 3.917726 deg/s,
      cmd heading: 300.621887 deg,
      new cmd heading: 297.977376 deg.

2021-08-13T01:28:18.024Z,1628818098.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:18.309Z,1628818098.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:18.309Z,1628818098.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:18.309Z,1628818098.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:18.310Z,1628818098.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:18.809Z,1628818098.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00497,186,80,80,85,FF
2021-08-13T01:28:18.809Z,1628818098.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:18.809Z,1628818098.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:18.811Z,1628818098.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:19.116Z,1628818099.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:19.528Z,1628818099.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F65,000,00475,186,80,80,5B,FF
2021-08-13T01:28:19.529Z,1628818099.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:19.549Z,1628818099.549 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:20.043Z,1628818100.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 318.946857 deg, deltaT: 4.075009 s, approachRate: -0.500612 m/s, LOS rate: -0.083115 deg/s, posRepo size: 4
2021-08-13T01:28:20.044Z,1628818100.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.96 m.
2021-08-13T01:28:20.046Z,1628818100.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.959999 m,
      bearing: 318.946857 deg,
      approachRate: -0.500612 m/s,
      LOS rate: -0.083115 deg/s,
      cmd update: -0.249346 deg/s,
      cmd heading: 316.586411 deg,
      new cmd heading: 318.535739 deg.

2021-08-13T01:28:20.345Z,1628818100.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012820.34*50

2021-08-13T01:28:22.057Z,1628818102.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:22.361Z,1628818102.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:22.361Z,1628818102.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:22.361Z,1628818102.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:22.362Z,1628818102.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:22.769Z,1628818102.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F65,000,00475,186,80,80,5B,FF
2021-08-13T01:28:22.769Z,1628818102.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:22.769Z,1628818102.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:22.771Z,1628818102.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:23.188Z,1628818103.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:23.573Z,1628818103.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,00455,187,80,80,6A,FF
2021-08-13T01:28:23.573Z,1628818103.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:23.594Z,1628818103.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:24.030Z,1628818104.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012824.30*50

2021-08-13T01:28:24.100Z,1628818104.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 317.352691 deg, deltaT: 4.044592 s, approachRate: -0.474708 m/s, LOS rate: -0.394148 deg/s, posRepo size: 4
2021-08-13T01:28:24.101Z,1628818104.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.04 m.
2021-08-13T01:28:24.101Z,1628818104.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.04 m.
2021-08-13T01:28:24.101Z,1628818104.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:28:24.103Z,1628818104.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.040001 m,
      bearing: 317.352691 deg,
      approachRate: -0.474708 m/s,
      LOS rate: -0.394148 deg/s,
      cmd update: -1.182443 deg/s,
      cmd heading: 315.577833 deg,
      new cmd heading: 315.451893 deg.

2021-08-13T01:28:26.096Z,1628818106.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:26.394Z,1628818106.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:26.394Z,1628818106.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:26.394Z,1628818106.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:26.395Z,1628818106.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:26.793Z,1628818106.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00455,187,80,80,6A,FF
2021-08-13T01:28:26.793Z,1628818106.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:26.793Z,1628818106.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:26.795Z,1628818106.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:27.208Z,1628818107.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:27.605Z,1628818107.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,0042C,184,80,80,96,FF
2021-08-13T01:28:27.606Z,1628818107.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:27.701Z,1628818107.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:28.053Z,1628818108.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012828.32*5E

2021-08-13T01:28:28.142Z,1628818108.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 318.901969 deg, deltaT: 4.107345 s, approachRate: -0.598927 m/s, LOS rate: 0.377197 deg/s, posRepo size: 4
2021-08-13T01:28:28.149Z,1628818108.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 318.901969 deg,
      approachRate: -0.598927 m/s,
      LOS rate: 0.377197 deg/s,
      cmd update: 1.131591 deg/s,
      cmd heading: 310.743914 deg,
      new cmd heading: 310.195698 deg.

2021-08-13T01:28:30.457Z,1628818110.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:30.833Z,1628818110.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:30.833Z,1628818110.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:30.833Z,1628818110.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:30.834Z,1628818110.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:31.237Z,1628818111.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,0042C,184,80,80,96,FF
2021-08-13T01:28:31.237Z,1628818111.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:31.237Z,1628818111.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:31.239Z,1628818111.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:31.661Z,1628818111.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:32.045Z,1628818112.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00406,183,80,80,42,FF
2021-08-13T01:28:32.045Z,1628818112.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:32.108Z,1628818112.108 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:32.490Z,1628818112.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012832.77*54

2021-08-13T01:28:32.512Z,1628818112.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 315.078402 deg, deltaT: 4.407324 s, approachRate: -0.517321 m/s, LOS rate: -0.867548 deg/s, posRepo size: 4
2021-08-13T01:28:32.514Z,1628818112.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.300001 m,
      bearing: 315.078402 deg,
      approachRate: -0.517321 m/s,
      LOS rate: -0.867548 deg/s,
      cmd update: -2.602646 deg/s,
      cmd heading: 315.752750 deg,
      new cmd heading: 316.212872 deg.

2021-08-13T01:28:34.915Z,1628818114.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:35.281Z,1628818115.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:35.281Z,1628818115.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:35.281Z,1628818115.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:35.282Z,1628818115.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:35.709Z,1628818115.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00406,183,80,80,42,FF
2021-08-13T01:28:35.709Z,1628818115.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:35.709Z,1628818115.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:35.711Z,1628818115.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:36.096Z,1628818116.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:36.497Z,1628818116.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,003D3,183,80,80,B0,FF
2021-08-13T01:28:36.497Z,1628818116.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:36.590Z,1628818116.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:36.925Z,1628818116.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012837.24*57

2021-08-13T01:28:36.975Z,1628818116.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 316.772808 deg, deltaT: 4.482150 s, approachRate: -0.682709 m/s, LOS rate: 0.378034 deg/s, posRepo size: 4
2021-08-13T01:28:36.981Z,1628818116.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.239996 m,
      bearing: 316.772808 deg,
      approachRate: -0.682709 m/s,
      LOS rate: 0.378034 deg/s,
      cmd update: 1.134103 deg/s,
      cmd heading: 304.086787 deg,
      new cmd heading: 303.078782 deg.

2021-08-13T01:28:39.363Z,1628818119.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:39.745Z,1628818119.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:39.745Z,1628818119.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:39.745Z,1628818119.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:39.746Z,1628818119.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:40.125Z,1628818120.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,003D3,183,80,80,B0,FF
2021-08-13T01:28:40.125Z,1628818120.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:40.125Z,1628818120.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:40.127Z,1628818120.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:40.532Z,1628818120.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:40.937Z,1628818120.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,003A2,187,80,80,A4,FF
2021-08-13T01:28:40.937Z,1628818120.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:40.999Z,1628818120.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:41.365Z,1628818121.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012841.65*53

2021-08-13T01:28:41.406Z,1628818121.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 313.551145 deg, deltaT: 4.409094 s, approachRate: -0.666803 m/s, LOS rate: -0.730686 deg/s, posRepo size: 4
2021-08-13T01:28:41.409Z,1628818121.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 313.551145 deg,
      approachRate: -0.666803 m/s,
      LOS rate: -0.730686 deg/s,
      cmd update: -2.192058 deg/s,
      cmd heading: 309.050659 deg,
      new cmd heading: 309.551788 deg.

2021-08-13T01:28:43.810Z,1628818123.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:44.169Z,1628818124.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:44.169Z,1628818124.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:44.169Z,1628818124.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:44.170Z,1628818124.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:44.569Z,1628818124.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,003A2,187,80,80,A4,FF
2021-08-13T01:28:44.569Z,1628818124.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:44.569Z,1628818124.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:44.571Z,1628818124.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:45.049Z,1628818125.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:45.437Z,1628818125.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00385,184,80,80,4F,FF
2021-08-13T01:28:45.437Z,1628818125.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:45.497Z,1628818125.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:45.866Z,1628818125.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012846.10*56

2021-08-13T01:28:45.946Z,1628818125.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 308.791596 deg, deltaT: 4.497360 s, approachRate: -0.386894 m/s, LOS rate: -1.058298 deg/s, posRepo size: 4
2021-08-13T01:28:45.963Z,1628818125.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 308.791596 deg,
      approachRate: -0.386894 m/s,
      LOS rate: -1.058298 deg/s,
      cmd update: -3.174895 deg/s,
      cmd heading: 299.146436 deg,
      new cmd heading: 298.214004 deg.

2021-08-13T01:28:46.735Z,1628818126.735 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:28:48.321Z,1628818128.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:48.686Z,1628818128.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:48.686Z,1628818128.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:48.687Z,1628818128.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:48.690Z,1628818128.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:49.081Z,1628818129.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00385,184,80,80,4F,FF
2021-08-13T01:28:49.081Z,1628818129.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:49.081Z,1628818129.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:49.084Z,1628818129.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:49.481Z,1628818129.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:49.881Z,1628818129.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6F,000,0035C,187,80,80,A0,FF
2021-08-13T01:28:49.882Z,1628818129.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:49.995Z,1628818129.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:28:50.325Z,1628818130.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012850.62*54

2021-08-13T01:28:50.381Z,1628818130.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 312.704447 deg, deltaT: 4.502618 s, approachRate: -0.546348 m/s, LOS rate: 0.869017 deg/s, posRepo size: 4
2021-08-13T01:28:50.383Z,1628818130.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 312.704447 deg,
      approachRate: -0.546348 m/s,
      LOS rate: 0.869017 deg/s,
      cmd update: 2.607051 deg/s,
      cmd heading: 284.841418 deg,
      new cmd heading: 283.657862 deg.

2021-08-13T01:28:52.786Z,1628818132.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:53.140Z,1628818133.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:53.140Z,1628818133.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:53.141Z,1628818133.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:53.156Z,1628818133.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:53.529Z,1628818133.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6F,000,0035C,187,80,80,A0,FF
2021-08-13T01:28:53.529Z,1628818133.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:53.529Z,1628818133.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:53.531Z,1628818133.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:53.967Z,1628818133.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:54.798Z,1628818134.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012855.06*53

2021-08-13T01:28:55.567Z,1628818135.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:57.165Z,1628818137.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,A0,FF
2021-08-13T01:28:57.165Z,1628818137.165 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,A0,FF
2021-08-13T01:28:57.166Z,1628818137.166 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:28:58.081Z,1628818138.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:28:58.374Z,1628818138.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:28:58.374Z,1628818138.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:28:58.374Z,1628818138.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:28:58.375Z,1628818138.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:28:58.788Z,1628818138.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,A0,FF
2021-08-13T01:28:58.788Z,1628818138.788 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:28:58.789Z,1628818138.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:28:58.790Z,1628818138.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:28:59.176Z,1628818139.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:28:59.585Z,1628818139.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00316,186,80,80,41,FF
2021-08-13T01:28:59.585Z,1628818139.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:28:59.605Z,1628818139.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:00.029Z,1628818140.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012900.32*55

2021-08-13T01:29:00.091Z,1628818140.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 307.785536 deg, deltaT: 9.605921 s, approachRate: -0.437231 m/s, LOS rate: -0.512071 deg/s, posRepo size: 4
2021-08-13T01:29:00.093Z,1628818140.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 307.785536 deg,
      approachRate: -0.437231 m/s,
      LOS rate: -0.512071 deg/s,
      cmd update: -1.536212 deg/s,
      cmd heading: 309.906102 deg,
      new cmd heading: 311.178955 deg.

2021-08-13T01:29:02.432Z,1628818142.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:02.833Z,1628818142.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:02.833Z,1628818142.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:02.833Z,1628818142.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:02.834Z,1628818142.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:03.213Z,1628818143.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00316,186,80,80,41,FF
2021-08-13T01:29:03.213Z,1628818143.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:03.213Z,1628818143.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:03.215Z,1628818143.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:03.644Z,1628818143.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:04.021Z,1628818144.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,002E5,187,80,80,8A,FF
2021-08-13T01:29:04.021Z,1628818144.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:04.113Z,1628818144.113 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:04.468Z,1628818144.468 [Micromodem](INFO): Nmea in: $SNTTA,0.041860,,,,012904.74*46

2021-08-13T01:29:04.487Z,1628818144.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 325.574190 deg, deltaT: 4.507325 s, approachRate: -0.652271 m/s, LOS rate: 3.946610 deg/s, posRepo size: 4
2021-08-13T01:29:04.490Z,1628818144.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 325.574190 deg,
      approachRate: -0.652271 m/s,
      LOS rate: 3.946610 deg/s,
      cmd update: 11.839831 deg/s,
      cmd heading: 302.988406 deg,
      new cmd heading: 302.401960 deg.

2021-08-13T01:29:06.902Z,1628818146.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:07.253Z,1628818147.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:07.253Z,1628818147.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:07.253Z,1628818147.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:07.254Z,1628818147.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:07.693Z,1628818147.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,002E5,187,80,80,8A,FF
2021-08-13T01:29:07.693Z,1628818147.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:07.694Z,1628818147.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:07.701Z,1628818147.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:08.069Z,1628818148.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:08.479Z,1628818148.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,002CF,186,80,80,9B,FF
2021-08-13T01:29:08.480Z,1628818148.480 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:08.509Z,1628818148.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:08.899Z,1628818148.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012909.23*5C

2021-08-13T01:29:08.951Z,1628818148.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 305.653424 deg, deltaT: 4.396397 s, approachRate: -0.300246 m/s, LOS rate: -4.531157 deg/s, posRepo size: 4
2021-08-13T01:29:08.957Z,1628818148.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 305.653424 deg,
      approachRate: -0.300246 m/s,
      LOS rate: -4.531157 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.070708 deg,
      new cmd heading: 0.359205 deg.

2021-08-13T01:29:11.312Z,1628818151.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:11.718Z,1628818151.718 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:11.718Z,1628818151.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:11.718Z,1628818151.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:11.719Z,1628818151.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:12.097Z,1628818152.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,002CF,186,80,80,9B,FF
2021-08-13T01:29:12.097Z,1628818152.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:12.098Z,1628818152.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:12.099Z,1628818152.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:12.510Z,1628818152.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:12.925Z,1628818152.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,002CC,183,80,80,7B,FF
2021-08-13T01:29:12.926Z,1628818152.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:13.006Z,1628818153.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:13.358Z,1628818153.358 [Micromodem](INFO): Nmea in: $SNTTA,0.007276,,,,012913.63*49

2021-08-13T01:29:13.413Z,1628818153.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 321.040256 deg, deltaT: 4.496348 s, approachRate: -0.040032 m/s, LOS rate: 3.422073 deg/s, posRepo size: 4
2021-08-13T01:29:13.415Z,1628818153.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 321.040256 deg,
      approachRate: -0.040032 m/s,
      LOS rate: 3.422073 deg/s,
      cmd update: 10.266219 deg/s,
      cmd heading: 301.093507 deg,
      new cmd heading: 296.216394 deg.

2021-08-13T01:29:15.815Z,1628818155.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:16.145Z,1628818156.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:16.145Z,1628818156.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:16.145Z,1628818156.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:16.146Z,1628818156.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:16.545Z,1628818156.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,002CC,183,80,80,7B,FF
2021-08-13T01:29:16.545Z,1628818156.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:16.546Z,1628818156.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:16.547Z,1628818156.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:16.955Z,1628818156.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:17.359Z,1628818157.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,002DB,186,80,80,BB,FF
2021-08-13T01:29:17.360Z,1628818157.360 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:17.381Z,1628818157.381 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:17.793Z,1628818157.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012918.07*5A

2021-08-13T01:29:17.860Z,1628818157.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 342.146059 deg, deltaT: 4.375170 s, approachRate: 0.205706 m/s, LOS rate: 4.823996 deg/s, posRepo size: 4
2021-08-13T01:29:17.863Z,1628818157.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 342.146059 deg,
      approachRate: 0.205706 m/s,
      LOS rate: 4.823996 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 345.999746 deg,
      new cmd heading: 350.846140 deg.

2021-08-13T01:29:20.257Z,1628818160.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:20.585Z,1628818160.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:20.585Z,1628818160.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:20.585Z,1628818160.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:20.586Z,1628818160.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:20.989Z,1628818160.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,002DB,186,80,80,BB,FF
2021-08-13T01:29:20.989Z,1628818160.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:20.989Z,1628818160.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:20.991Z,1628818160.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:21.398Z,1628818161.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:21.801Z,1628818161.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,002FC,183,80,80,8E,FF
2021-08-13T01:29:21.801Z,1628818161.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:21.898Z,1628818161.898 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:22.265Z,1628818162.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 328.684795 deg, deltaT: 4.517072 s, approachRate: 0.438337 m/s, LOS rate: -2.980086 deg/s, posRepo size: 4
2021-08-13T01:29:22.267Z,1628818162.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 328.684795 deg,
      approachRate: 0.438337 m/s,
      LOS rate: -2.980086 deg/s,
      cmd update: -8.940259 deg/s,
      cmd heading: 39.977619 deg,
      new cmd heading: 44.659672 deg.

2021-08-13T01:29:24.695Z,1628818164.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:25.029Z,1628818165.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:25.029Z,1628818165.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:25.029Z,1628818165.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:25.030Z,1628818165.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:25.437Z,1628818165.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,002FC,183,80,80,8E,FF
2021-08-13T01:29:25.437Z,1628818165.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:25.437Z,1628818165.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:25.439Z,1628818165.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:25.860Z,1628818165.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:26.246Z,1628818166.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,00330,187,80,80,98,FF
2021-08-13T01:29:26.246Z,1628818166.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:26.309Z,1628818166.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:26.709Z,1628818166.709 [Micromodem](INFO): Nmea in: $SNTTA,0.037749,,,,012926.97*4E

2021-08-13T01:29:26.735Z,1628818166.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 318.017870 deg, deltaT: 4.411174 s, approachRate: 0.707294 m/s, LOS rate: -2.418160 deg/s, posRepo size: 4
2021-08-13T01:29:26.757Z,1628818166.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 318.017870 deg,
      approachRate: 0.707294 m/s,
      LOS rate: -2.418160 deg/s,
      cmd update: -7.254481 deg/s,
      cmd heading: 0.362607 deg,
      new cmd heading: 356.524929 deg.

2021-08-13T01:29:29.088Z,1628818169.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:29.481Z,1628818169.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:29.481Z,1628818169.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:29.481Z,1628818169.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:29.482Z,1628818169.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:29.889Z,1628818169.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,00330,187,80,80,98,FF
2021-08-13T01:29:29.889Z,1628818169.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:29.889Z,1628818169.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:29.891Z,1628818169.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:30.288Z,1628818170.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:31.114Z,1628818171.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012931.42*50

2021-08-13T01:29:31.998Z,1628818171.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:33.513Z,1628818173.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,98,FF
2021-08-13T01:29:33.513Z,1628818173.513 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,98,FF
2021-08-13T01:29:33.513Z,1628818173.513 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:29:34.783Z,1628818174.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:35.129Z,1628818175.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:35.129Z,1628818175.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:35.129Z,1628818175.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:35.130Z,1628818175.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:35.538Z,1628818175.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,98,FF
2021-08-13T01:29:35.538Z,1628818175.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:35.538Z,1628818175.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:35.540Z,1628818175.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:35.987Z,1628818175.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:36.341Z,1628818176.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,0038A,186,80,80,6A,FF
2021-08-13T01:29:36.341Z,1628818176.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:36.362Z,1628818176.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:36.785Z,1628818176.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012937.07*57

2021-08-13T01:29:36.811Z,1628818176.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 336.802830 deg, deltaT: 10.053184 s, approachRate: 0.537144 m/s, LOS rate: 1.868558 deg/s, posRepo size: 4
2021-08-13T01:29:36.812Z,1628818176.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.86 m. Rolling out.
2021-08-13T01:29:36.813Z,1628818176.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T01:29:38.896Z,1628818178.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:39.173Z,1628818179.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:39.173Z,1628818179.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:39.173Z,1628818179.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:39.174Z,1628818179.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:39.577Z,1628818179.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,0038A,186,80,80,6A,FF
2021-08-13T01:29:39.577Z,1628818179.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:39.578Z,1628818179.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:39.579Z,1628818179.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:40.016Z,1628818180.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:40.814Z,1628818180.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012941.11*51

2021-08-13T01:29:41.615Z,1628818181.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:42.406Z,1628818182.406 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:29:43.241Z,1628818183.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,6A,FF
2021-08-13T01:29:43.241Z,1628818183.241 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,6A,FF
2021-08-13T01:29:43.241Z,1628818183.241 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:29:44.450Z,1628818184.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:44.825Z,1628818184.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:44.825Z,1628818184.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:44.825Z,1628818184.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:44.826Z,1628818184.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:45.233Z,1628818185.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,6A,FF
2021-08-13T01:29:45.233Z,1628818185.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:45.233Z,1628818185.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:45.235Z,1628818185.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:45.650Z,1628818185.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:46.049Z,1628818186.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,003CB,186,80,80,62,FF
2021-08-13T01:29:46.050Z,1628818186.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:46.135Z,1628818186.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:46.489Z,1628818186.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012946.76*57

2021-08-13T01:29:46.508Z,1628818186.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 322.687561 deg, deltaT: 9.773403 s, approachRate: 0.399042 m/s, LOS rate: -1.444253 deg/s, posRepo size: 4
2021-08-13T01:29:48.911Z,1628818188.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:49.265Z,1628818189.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:49.265Z,1628818189.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:49.265Z,1628818189.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:49.266Z,1628818189.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:49.697Z,1628818189.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,003CB,186,80,80,62,FF
2021-08-13T01:29:49.697Z,1628818189.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:49.697Z,1628818189.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:49.699Z,1628818189.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:50.093Z,1628818190.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:50.906Z,1628818190.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012951.23*51

2021-08-13T01:29:51.770Z,1628818191.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:53.313Z,1628818193.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,62,FF
2021-08-13T01:29:53.314Z,1628818193.314 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,62,FF
2021-08-13T01:29:53.314Z,1628818193.314 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:29:54.558Z,1628818194.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:54.937Z,1628818194.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:54.937Z,1628818194.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:54.937Z,1628818194.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:54.938Z,1628818194.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:55.337Z,1628818195.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,62,FF
2021-08-13T01:29:55.337Z,1628818195.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:55.337Z,1628818195.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:55.339Z,1628818195.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:29:55.763Z,1628818195.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:29:56.145Z,1628818196.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00425,18A,80,80,7C,FF
2021-08-13T01:29:56.145Z,1628818196.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:29:56.264Z,1628818196.264 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:29:56.577Z,1628818196.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,012956.87*58

2021-08-13T01:29:56.616Z,1628818196.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 261.560810 deg, deltaT: 10.128621 s, approachRate: 0.533143 m/s, LOS rate: -6.035051 deg/s, posRepo size: 4
2021-08-13T01:29:59.030Z,1628818199.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:29:59.377Z,1628818199.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:29:59.378Z,1628818199.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:29:59.378Z,1628818199.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:29:59.379Z,1628818199.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:29:59.789Z,1628818199.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00425,18A,80,80,7C,FF
2021-08-13T01:29:59.789Z,1628818199.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:29:59.790Z,1628818199.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:29:59.792Z,1628818199.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:00.225Z,1628818200.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:00.625Z,1628818200.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,0044C,185,80,80,7C,FF
2021-08-13T01:30:00.625Z,1628818200.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:00.673Z,1628818200.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:30:01.061Z,1628818201.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013001.32*5C

2021-08-13T01:30:01.105Z,1628818201.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 273.387993 deg, deltaT: 4.409697 s, approachRate: 0.530648 m/s, LOS rate: 2.682085 deg/s, posRepo size: 4
2021-08-13T01:30:03.471Z,1628818203.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:03.862Z,1628818203.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:03.862Z,1628818203.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:03.863Z,1628818203.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:03.864Z,1628818203.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:04.261Z,1628818204.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,0044C,185,80,80,7C,FF
2021-08-13T01:30:04.261Z,1628818204.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:04.261Z,1628818204.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:04.263Z,1628818204.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:04.704Z,1628818204.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:05.062Z,1628818205.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,0046E,186,80,80,82,FF
2021-08-13T01:30:05.062Z,1628818205.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:05.119Z,1628818205.119 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:30:05.510Z,1628818205.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013005.79*57

2021-08-13T01:30:05.532Z,1628818205.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 275.009944 deg, deltaT: 4.445215 s, approachRate: 0.458920 m/s, LOS rate: 0.364876 deg/s, posRepo size: 4
2021-08-13T01:30:07.984Z,1628818207.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:08.305Z,1628818208.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:08.305Z,1628818208.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:08.305Z,1628818208.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:08.306Z,1628818208.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:08.803Z,1628818208.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,0046E,186,80,80,82,FF
2021-08-13T01:30:08.803Z,1628818208.803 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:08.804Z,1628818208.804 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:08.806Z,1628818208.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:09.145Z,1628818209.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:09.545Z,1628818209.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,134,000,00498,186,80,80,77,FF
2021-08-13T01:30:09.546Z,1628818209.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:09.565Z,1628818209.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:30:09.995Z,1628818209.995 [Micromodem](INFO): Nmea in: $SNTTA,,0.464221,,,013010.33*44

2021-08-13T01:30:10.076Z,1628818210.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 277.631863 deg, deltaT: 4.446301 s, approachRate: 0.566764 m/s, LOS rate: 0.589685 deg/s, posRepo size: 4
2021-08-13T01:30:12.387Z,1628818212.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:12.777Z,1628818212.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:12.777Z,1628818212.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:12.778Z,1628818212.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:12.779Z,1628818212.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:13.189Z,1628818213.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
134,000,00498,186,80,80,77,FF
2021-08-13T01:30:13.190Z,1628818213.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:13.191Z,1628818213.191 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:13.207Z,1628818213.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:13.590Z,1628818213.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:14.006Z,1628818214.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,004C4,185,80,80,66,FF
2021-08-13T01:30:14.006Z,1628818214.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:14.092Z,1628818214.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:30:14.429Z,1628818214.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013014.74*5A

2021-08-13T01:30:14.451Z,1628818214.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 295.310305 deg, deltaT: 4.526958 s, approachRate: 0.583172 m/s, LOS rate: 3.905148 deg/s, posRepo size: 4
2021-08-13T01:30:16.882Z,1628818216.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:17.216Z,1628818217.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:17.216Z,1628818217.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:17.217Z,1628818217.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:17.218Z,1628818217.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:17.614Z,1628818217.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,004C4,185,80,80,66,FF
2021-08-13T01:30:17.614Z,1628818217.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:17.614Z,1628818217.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:17.617Z,1628818217.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:18.024Z,1628818218.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:18.843Z,1628818218.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013019.15*50

2021-08-13T01:30:19.700Z,1628818219.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:21.249Z,1628818221.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,185,80,80,66,FF
2021-08-13T01:30:21.249Z,1628818221.249 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,185,80,80,66,FF
2021-08-13T01:30:21.249Z,1628818221.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:30:22.507Z,1628818222.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:22.865Z,1628818222.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:22.866Z,1628818222.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:22.866Z,1628818222.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:22.867Z,1628818222.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:23.277Z,1628818223.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,185,80,80,66,FF
2021-08-13T01:30:23.277Z,1628818223.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:23.277Z,1628818223.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:23.279Z,1628818223.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:23.699Z,1628818223.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:24.077Z,1628818224.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00527,184,80,80,92,FF
2021-08-13T01:30:24.077Z,1628818224.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:24.185Z,1628818224.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:30:24.522Z,1628818224.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013024.81*53

2021-08-13T01:30:24.544Z,1628818224.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 295.086630 deg, deltaT: 10.092511 s, approachRate: 0.588556 m/s, LOS rate: -0.022162 deg/s, posRepo size: 4
2021-08-13T01:30:24.960Z,1628818224.960 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:30:24.961Z,1628818224.961 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:30:24.961Z,1628818224.961 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:30:24.961Z,1628818224.961 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:30:24.962Z,1628818224.962 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:30:24.962Z,1628818224.962 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:30:25.325Z,1628818225.325 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:30:25.326Z,1628818225.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:30:25.326Z,1628818225.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:30:25.326Z,1628818225.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:30:26.949Z,1628818226.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:27.309Z,1628818227.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:27.309Z,1628818227.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:27.309Z,1628818227.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:27.310Z,1628818227.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:27.737Z,1628818227.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00527,184,80,80,92,FF
2021-08-13T01:30:27.737Z,1628818227.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:27.737Z,1628818227.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:27.739Z,1628818227.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:28.124Z,1628818228.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:28.525Z,1628818228.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0054C,189,80,80,44,FF
2021-08-13T01:30:28.525Z,1628818228.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:28.953Z,1628818228.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013029.27*52

2021-08-13T01:30:29.007Z,1628818229.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 228.250223 deg, deltaT: 4.360582 s, approachRate: 0.509105 m/s, LOS rate: -15.327406 deg/s, posRepo size: 4
2021-08-13T01:30:31.394Z,1628818231.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:31.757Z,1628818231.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:31.757Z,1628818231.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:31.757Z,1628818231.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:31.758Z,1628818231.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:32.173Z,1628818232.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0054C,189,80,80,44,FF
2021-08-13T01:30:32.174Z,1628818232.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:32.174Z,1628818232.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:32.175Z,1628818232.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:32.569Z,1628818232.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:32.973Z,1628818232.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D28,000,0057B,189,80,80,54,FF
2021-08-13T01:30:32.974Z,1628818232.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:33.225Z,1628818233.225 [ThrusterServo](FAULT): Invalid EZ Servo response:""
2021-08-13T01:30:33.225Z,1628818233.225 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T01:30:33.225Z,1628818233.225 [ThrusterServo](ERROR): Communications Fault
2021-08-13T01:30:33.230Z,1628818233.230 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T01:30:33.406Z,1628818233.406 [Micromodem](INFO): Nmea in: $SNTTA,0.292729,,,,013033.70*40

2021-08-13T01:30:33.439Z,1628818233.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 330.138642 deg, deltaT: 4.542498 s, approachRate: 0.620805 m/s, LOS rate: 22.430041 deg/s, posRepo size: 4
2021-08-13T01:30:33.520Z,1628818233.520 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T01:30:33.521Z,1628818233.521 [ThrusterServo](INFO): Powering down
2021-08-13T01:30:34.313Z,1628818234.313 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T01:30:34.433Z,1628818234.433 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T01:30:34.436Z,1628818234.436 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T01:30:34.437Z,1628818234.437 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T01:30:35.858Z,1628818235.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:36.197Z,1628818236.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:36.197Z,1628818236.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:36.197Z,1628818236.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:36.198Z,1628818236.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:36.609Z,1628818236.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D28,000,0057B,189,80,80,54,FF
2021-08-13T01:30:36.609Z,1628818236.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:36.609Z,1628818236.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:36.611Z,1628818236.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:37.012Z,1628818237.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:37.409Z,1628818237.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,005A0,188,80,80,4A,FF
2021-08-13T01:30:37.410Z,1628818237.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:37.850Z,1628818237.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013038.14*52

2021-08-13T01:30:37.903Z,1628818237.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 320.137797 deg, deltaT: 4.341087 s, approachRate: 0.511393 m/s, LOS rate: -2.303765 deg/s, posRepo size: 4
2021-08-13T01:30:40.303Z,1628818240.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:40.650Z,1628818240.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:40.650Z,1628818240.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:40.650Z,1628818240.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:40.651Z,1628818240.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:41.045Z,1628818241.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,005A0,188,80,80,4A,FF
2021-08-13T01:30:41.045Z,1628818241.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:41.045Z,1628818241.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:41.047Z,1628818241.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:41.453Z,1628818241.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:41.854Z,1628818241.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,005BF,185,80,80,5F,FF
2021-08-13T01:30:41.854Z,1628818241.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:42.277Z,1628818242.277 [Micromodem](INFO): Nmea in: $SNTTA,0.048251,0.382463,,,013042.58*55

2021-08-13T01:30:42.324Z,1628818242.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 296.353138 deg, deltaT: 4.539816 s, approachRate: 0.409708 m/s, LOS rate: -5.239124 deg/s, posRepo size: 4
2021-08-13T01:30:44.747Z,1628818244.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:45.081Z,1628818245.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:45.081Z,1628818245.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:45.081Z,1628818245.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:45.082Z,1628818245.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:45.489Z,1628818245.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,005BF,185,80,80,5F,FF
2021-08-13T01:30:45.489Z,1628818245.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:45.489Z,1628818245.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:45.491Z,1628818245.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:45.927Z,1628818245.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:46.738Z,1628818246.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013047.02*5D

2021-08-13T01:30:47.526Z,1628818247.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:49.125Z,1628818249.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,5F,FF
2021-08-13T01:30:49.125Z,1628818249.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,5F,FF
2021-08-13T01:30:49.125Z,1628818249.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:30:50.037Z,1628818250.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:50.337Z,1628818250.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:50.337Z,1628818250.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:50.337Z,1628818250.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:50.338Z,1628818250.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:50.746Z,1628818250.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,5F,FF
2021-08-13T01:30:50.746Z,1628818250.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:50.746Z,1628818250.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:50.748Z,1628818250.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:51.148Z,1628818251.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:51.553Z,1628818251.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00614,185,80,80,79,FF
2021-08-13T01:30:51.553Z,1628818251.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:52.013Z,1628818252.013 [Micromodem](INFO): Nmea in: $SNTTA,0.046802,,,,013052.27*48

2021-08-13T01:30:52.096Z,1628818252.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 314.669902 deg, deltaT: 9.604330 s, approachRate: 0.531010 m/s, LOS rate: 1.907136 deg/s, posRepo size: 4
2021-08-13T01:30:54.104Z,1628818254.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:54.377Z,1628818254.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:54.377Z,1628818254.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:54.377Z,1628818254.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:54.378Z,1628818254.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:54.782Z,1628818254.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00614,185,80,80,79,FF
2021-08-13T01:30:54.782Z,1628818254.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:54.782Z,1628818254.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:54.784Z,1628818254.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:55.188Z,1628818255.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:30:55.597Z,1628818255.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F18,000,00632,187,80,80,21,FF
2021-08-13T01:30:55.598Z,1628818255.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:30:56.033Z,1628818256.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013056.31*5D

2021-08-13T01:30:56.099Z,1628818256.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.660007 m, bearing: 304.831343 deg, deltaT: 4.044136 s, approachRate: 0.445092 m/s, LOS rate: -2.432796 deg/s, posRepo size: 4
2021-08-13T01:30:58.435Z,1628818258.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:30:58.821Z,1628818258.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:30:58.821Z,1628818258.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:30:58.821Z,1628818258.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:30:58.822Z,1628818258.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:30:59.233Z,1628818259.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F18,000,00632,187,80,80,21,FF
2021-08-13T01:30:59.234Z,1628818259.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:30:59.234Z,1628818259.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:30:59.235Z,1628818259.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:30:59.633Z,1628818259.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:00.033Z,1628818260.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00665,186,80,80,8F,FF
2021-08-13T01:31:00.034Z,1628818260.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:00.482Z,1628818260.482 [Micromodem](INFO): Nmea in: $SNTTA,0.066046,,,,013100.76*40

2021-08-13T01:31:00.504Z,1628818260.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.720005 m, bearing: 309.990977 deg, deltaT: 4.504615 s, approachRate: 0.679303 m/s, LOS rate: 1.145411 deg/s, posRepo size: 4
2021-08-13T01:31:02.905Z,1628818262.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:03.299Z,1628818263.299 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:03.299Z,1628818263.299 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:03.299Z,1628818263.299 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:03.300Z,1628818263.300 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:03.685Z,1628818263.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00665,186,80,80,8F,FF
2021-08-13T01:31:03.686Z,1628818263.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:03.686Z,1628818263.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:03.692Z,1628818263.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:04.088Z,1628818264.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:04.477Z,1628818264.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D8,000,00690,189,80,80,59,FF
2021-08-13T01:31:04.477Z,1628818264.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:04.918Z,1628818264.918 [Micromodem](INFO): Nmea in: $SNTTA,0.050998,,,,013105.22*4B

2021-08-13T01:31:04.949Z,1628818264.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 256.337792 deg, deltaT: 4.404811 s, approachRate: 0.585722 m/s, LOS rate: -12.180587 deg/s, posRepo size: 4
2021-08-13T01:31:07.346Z,1628818267.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:07.737Z,1628818267.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:07.737Z,1628818267.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:07.737Z,1628818267.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:07.738Z,1628818267.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:08.129Z,1628818268.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D8,000,00690,189,80,80,59,FF
2021-08-13T01:31:08.130Z,1628818268.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:08.130Z,1628818268.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:08.131Z,1628818268.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:08.534Z,1628818268.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:08.929Z,1628818268.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,006BA,186,80,80,50,FF
2021-08-13T01:31:08.930Z,1628818268.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:09.354Z,1628818269.354 [Micromodem](INFO): Nmea in: $SNTTA,0.072192,,,,013109.66*45

2021-08-13T01:31:09.389Z,1628818269.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 311.100063 deg, deltaT: 4.468081 s, approachRate: 0.564001 m/s, LOS rate: 12.256329 deg/s, posRepo size: 4
2021-08-13T01:31:11.790Z,1628818271.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:12.165Z,1628818272.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:12.165Z,1628818272.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:12.165Z,1628818272.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:12.166Z,1628818272.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:12.561Z,1628818272.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,006BA,186,80,80,50,FF
2021-08-13T01:31:12.561Z,1628818272.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:12.561Z,1628818272.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:12.563Z,1628818272.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:12.981Z,1628818272.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:13.369Z,1628818273.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,006EB,185,80,80,64,FF
2021-08-13T01:31:13.369Z,1628818273.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:13.874Z,1628818273.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013114.09*51

2021-08-13T01:31:13.972Z,1628818273.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.760002 m, bearing: 304.237526 deg, deltaT: 4.422614 s, approachRate: 0.664766 m/s, LOS rate: -1.551693 deg/s, posRepo size: 4
2021-08-13T01:31:16.266Z,1628818276.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:16.605Z,1628818276.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:16.605Z,1628818276.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:16.605Z,1628818276.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:16.606Z,1628818276.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:17.006Z,1628818277.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,006EB,185,80,80,64,FF
2021-08-13T01:31:17.006Z,1628818277.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:17.007Z,1628818277.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:17.009Z,1628818277.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:17.409Z,1628818277.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:18.219Z,1628818278.219 [Micromodem](INFO): Nmea in: $SNTTA,0.362556,0.402938,,,013118.53*57

2021-08-13T01:31:19.058Z,1628818279.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:20.640Z,1628818280.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,64,FF
2021-08-13T01:31:20.641Z,1628818280.641 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,64,FF
2021-08-13T01:31:20.641Z,1628818280.641 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:31:21.978Z,1628818281.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:22.257Z,1628818282.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:22.257Z,1628818282.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:22.257Z,1628818282.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:22.258Z,1628818282.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:22.657Z,1628818282.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,64,FF
2021-08-13T01:31:22.657Z,1628818282.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:22.658Z,1628818282.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:22.665Z,1628818282.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:23.065Z,1628818283.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:23.462Z,1628818283.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0074C,187,80,80,50,FF
2021-08-13T01:31:23.462Z,1628818283.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:23.928Z,1628818283.928 [Micromodem](INFO): Nmea in: $SNTTA,0.071125,,,,013124.19*4D

2021-08-13T01:31:23.993Z,1628818283.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 315.698693 deg, deltaT: 10.065289 s, approachRate: 0.578226 m/s, LOS rate: 1.138682 deg/s, posRepo size: 4
2021-08-13T01:31:25.999Z,1628818285.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:26.297Z,1628818286.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:26.297Z,1628818286.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:26.297Z,1628818286.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:26.298Z,1628818286.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:26.733Z,1628818286.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0074C,187,80,80,50,FF
2021-08-13T01:31:26.733Z,1628818286.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:26.733Z,1628818286.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:26.735Z,1628818286.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:27.113Z,1628818287.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:27.510Z,1628818287.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00777,187,80,80,7D,FF
2021-08-13T01:31:27.510Z,1628818287.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:27.946Z,1628818287.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013128.26*53

2021-08-13T01:31:28.036Z,1628818288.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 316.256883 deg, deltaT: 4.046541 s, approachRate: 0.637580 m/s, LOS rate: 0.137943 deg/s, posRepo size: 4
2021-08-13T01:31:30.061Z,1628818290.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:30.337Z,1628818290.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:30.337Z,1628818290.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:30.337Z,1628818290.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:30.338Z,1628818290.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:30.741Z,1628818290.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00777,187,80,80,7D,FF
2021-08-13T01:31:30.741Z,1628818290.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:30.741Z,1628818290.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:30.743Z,1628818290.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:31.144Z,1628818291.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:31.549Z,1628818291.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,007A2,186,80,80,35,FF
2021-08-13T01:31:31.550Z,1628818291.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:32.017Z,1628818292.017 [Micromodem](INFO): Nmea in: $SNTTA,0.052651,,,,013132.27*42

2021-08-13T01:31:32.085Z,1628818292.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 314.231732 deg, deltaT: 4.040050 s, approachRate: 0.638606 m/s, LOS rate: -0.501269 deg/s, posRepo size: 4
2021-08-13T01:31:34.052Z,1628818294.052 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T01:31:34.094Z,1628818294.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:34.373Z,1628818294.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:34.373Z,1628818294.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:34.373Z,1628818294.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:34.374Z,1628818294.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:34.781Z,1628818294.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,007A2,186,80,80,35,FF
2021-08-13T01:31:34.781Z,1628818294.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:34.782Z,1628818294.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:34.783Z,1628818294.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:35.193Z,1628818295.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:35.585Z,1628818295.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,007C5,187,80,80,65,FF
2021-08-13T01:31:35.586Z,1628818295.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:36.041Z,1628818296.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013136.31*5A

2021-08-13T01:31:36.111Z,1628818296.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 314.852378 deg, deltaT: 4.078470 s, approachRate: 0.514897 m/s, LOS rate: 0.152176 deg/s, posRepo size: 4
2021-08-13T01:31:38.439Z,1628818298.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:38.817Z,1628818298.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:38.817Z,1628818298.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:38.817Z,1628818298.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:38.818Z,1628818298.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:39.229Z,1628818299.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,007C5,187,80,80,65,FF
2021-08-13T01:31:39.229Z,1628818299.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:39.229Z,1628818299.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:39.231Z,1628818299.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:39.629Z,1628818299.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:40.037Z,1628818300.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,007F9,188,80,80,5D,FF
2021-08-13T01:31:40.037Z,1628818300.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:40.469Z,1628818300.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013140.76*58

2021-08-13T01:31:40.519Z,1628818300.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.959999 m, bearing: 255.084425 deg, deltaT: 4.483601 s, approachRate: 0.695870 m/s, LOS rate: -13.330346 deg/s, posRepo size: 4
2021-08-13T01:31:42.914Z,1628818302.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:43.295Z,1628818303.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:43.296Z,1628818303.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:43.296Z,1628818303.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:43.297Z,1628818303.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:43.698Z,1628818303.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,007F9,188,80,80,5D,FF
2021-08-13T01:31:43.699Z,1628818303.699 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:43.699Z,1628818303.699 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:43.701Z,1628818303.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:44.089Z,1628818304.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:44.479Z,1628818304.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00824,189,80,80,71,FF
2021-08-13T01:31:44.479Z,1628818304.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:44.909Z,1628818304.909 [Micromodem](INFO): Nmea in: $SNTTA,0.070075,,,,013145.23*46

2021-08-13T01:31:44.934Z,1628818304.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 255.064508 deg, deltaT: 4.395663 s, approachRate: 0.586943 m/s, LOS rate: -0.004531 deg/s, posRepo size: 4
2021-08-13T01:31:47.324Z,1628818307.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:47.737Z,1628818307.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:47.737Z,1628818307.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:47.737Z,1628818307.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:47.738Z,1628818307.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:48.113Z,1628818308.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00824,189,80,80,71,FF
2021-08-13T01:31:48.113Z,1628818308.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:48.113Z,1628818308.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:48.115Z,1628818308.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:48.165Z,1628818308.165 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:31:48.520Z,1628818308.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:49.350Z,1628818309.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013149.64*52

2021-08-13T01:31:50.175Z,1628818310.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:51.756Z,1628818311.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,71,FF
2021-08-13T01:31:51.757Z,1628818311.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,71,FF
2021-08-13T01:31:51.757Z,1628818311.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:31:52.992Z,1628818312.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:53.373Z,1628818313.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:53.373Z,1628818313.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:53.373Z,1628818313.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:53.374Z,1628818313.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:53.765Z,1628818313.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,71,FF
2021-08-13T01:31:53.765Z,1628818313.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:53.765Z,1628818313.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:53.767Z,1628818313.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:54.182Z,1628818314.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:54.585Z,1628818314.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DC,000,0088B,189,80,80,70,FF
2021-08-13T01:31:54.586Z,1628818314.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:55.025Z,1628818315.025 [Micromodem](INFO): Nmea in: $SNTTA,0.061857,,,,013155.30*4D

2021-08-13T01:31:55.051Z,1628818315.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 255.529972 deg, deltaT: 10.110746 s, approachRate: 0.611231 m/s, LOS rate: 0.046037 deg/s, posRepo size: 4
2021-08-13T01:31:57.430Z,1628818317.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:31:57.809Z,1628818317.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:31:57.809Z,1628818317.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:31:57.809Z,1628818317.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:31:57.810Z,1628818317.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:31:58.218Z,1628818318.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DC,000,0088B,189,80,80,70,FF
2021-08-13T01:31:58.218Z,1628818318.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:31:58.218Z,1628818318.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:31:58.219Z,1628818318.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:31:58.633Z,1628818318.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:31:59.021Z,1628818319.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,008BD,186,80,80,47,FF
2021-08-13T01:31:59.021Z,1628818319.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:31:59.469Z,1628818319.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013159.75*53

2021-08-13T01:31:59.491Z,1628818319.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 269.569426 deg, deltaT: 4.437671 s, approachRate: 0.676030 m/s, LOS rate: 3.163699 deg/s, posRepo size: 4
2021-08-13T01:32:01.901Z,1628818321.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:02.261Z,1628818322.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:02.261Z,1628818322.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:02.261Z,1628818322.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:02.262Z,1628818322.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:02.668Z,1628818322.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,008BD,186,80,80,47,FF
2021-08-13T01:32:02.669Z,1628818322.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:02.670Z,1628818322.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:02.675Z,1628818322.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:03.068Z,1628818323.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:03.469Z,1628818323.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,008EA,189,80,80,72,FF
2021-08-13T01:32:03.469Z,1628818323.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:03.905Z,1628818323.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013204.21*59

2021-08-13T01:32:03.994Z,1628818323.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.419998 m, bearing: 255.283265 deg, deltaT: 4.413483 s, approachRate: 0.611761 m/s, LOS rate: -3.236936 deg/s, posRepo size: 4
2021-08-13T01:32:05.990Z,1628818325.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:06.293Z,1628818326.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:06.293Z,1628818326.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:06.293Z,1628818326.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:06.294Z,1628818326.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:06.729Z,1628818326.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,008EA,189,80,80,72,FF
2021-08-13T01:32:06.729Z,1628818326.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:06.729Z,1628818326.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:06.731Z,1628818326.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:07.109Z,1628818327.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:07.525Z,1628818327.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00914,189,80,80,7A,FF
2021-08-13T01:32:07.525Z,1628818327.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:07.953Z,1628818327.953 [Micromodem](INFO): Nmea in: $SNTTA,0.067392,,,,013208.26*45

2021-08-13T01:32:08.024Z,1628818328.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.940002 m, bearing: 257.236372 deg, deltaT: 4.055673 s, approachRate: 0.621353 m/s, LOS rate: 0.481574 deg/s, posRepo size: 4
2021-08-13T01:32:10.053Z,1628818330.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:10.337Z,1628818330.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:10.337Z,1628818330.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:10.338Z,1628818330.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:10.339Z,1628818330.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:10.757Z,1628818330.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00914,189,80,80,7A,FF
2021-08-13T01:32:10.757Z,1628818330.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:10.758Z,1628818330.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:10.759Z,1628818330.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:11.145Z,1628818331.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:11.557Z,1628818331.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00939,188,80,80,83,FF
2021-08-13T01:32:11.558Z,1628818331.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:12.009Z,1628818332.009 [Micromodem](INFO): Nmea in: $SNTTA,0.073438,,,,013212.29*43

2021-08-13T01:32:12.083Z,1628818332.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.159996 m, bearing: 259.595819 deg, deltaT: 4.033042 s, approachRate: 0.550451 m/s, LOS rate: 0.585029 deg/s, posRepo size: 4
2021-08-13T01:32:14.082Z,1628818334.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:14.377Z,1628818334.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:14.377Z,1628818334.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:14.377Z,1628818334.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:14.378Z,1628818334.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:14.791Z,1628818334.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00939,188,80,80,83,FF
2021-08-13T01:32:14.791Z,1628818334.791 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:14.791Z,1628818334.791 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:14.794Z,1628818334.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:15.188Z,1628818335.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:15.602Z,1628818335.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,00963,189,80,80,67,FF
2021-08-13T01:32:15.603Z,1628818335.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:16.046Z,1628818336.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013216.33*59

2021-08-13T01:32:16.116Z,1628818336.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 253.087496 deg, deltaT: 4.123881 s, approachRate: 0.611076 m/s, LOS rate: -1.578203 deg/s, posRepo size: 4
2021-08-13T01:32:18.430Z,1628818338.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:18.822Z,1628818338.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:18.822Z,1628818338.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:18.822Z,1628818338.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:18.823Z,1628818338.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:19.227Z,1628818339.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,00963,189,80,80,67,FF
2021-08-13T01:32:19.227Z,1628818339.227 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:19.227Z,1628818339.227 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:19.229Z,1628818339.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:19.635Z,1628818339.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:20.037Z,1628818340.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00991,189,80,80,84,FF
2021-08-13T01:32:20.037Z,1628818340.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:20.482Z,1628818340.482 [Micromodem](INFO): Nmea in: $SNTTA,0.097794,,,,013220.76*47

2021-08-13T01:32:20.519Z,1628818340.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.440010 m, bearing: 258.096101 deg, deltaT: 4.407634 s, approachRate: 0.626189 m/s, LOS rate: 1.136348 deg/s, posRepo size: 4
2021-08-13T01:32:22.938Z,1628818342.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:23.265Z,1628818343.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:23.265Z,1628818343.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:23.265Z,1628818343.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:23.266Z,1628818343.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:23.702Z,1628818343.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00991,189,80,80,84,FF
2021-08-13T01:32:23.702Z,1628818343.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:23.703Z,1628818343.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:23.705Z,1628818343.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:24.088Z,1628818344.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:24.481Z,1628818344.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,009C4,188,80,80,63,FF
2021-08-13T01:32:24.481Z,1628818344.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:24.903Z,1628818344.903 [Micromodem](INFO): Nmea in: $SNTTA,0.089763,,,,013225.24*42

2021-08-13T01:32:24.945Z,1628818344.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 264.612566 deg, deltaT: 4.437704 s, approachRate: 0.689545 m/s, LOS rate: 1.468432 deg/s, posRepo size: 4
2021-08-13T01:32:27.339Z,1628818347.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:27.745Z,1628818347.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:27.745Z,1628818347.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:27.745Z,1628818347.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:27.746Z,1628818347.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:28.105Z,1628818348.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,009C4,188,80,80,63,FF
2021-08-13T01:32:28.105Z,1628818348.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:28.106Z,1628818348.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:28.107Z,1628818348.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:28.525Z,1628818348.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:28.929Z,1628818348.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,009EF,189,80,80,6F,FF
2021-08-13T01:32:28.929Z,1628818348.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:29.349Z,1628818349.349 [Micromodem](INFO): Nmea in: $SNTTA,0.083857,,,,013229.63*4F

2021-08-13T01:32:29.396Z,1628818349.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 254.450419 deg, deltaT: 4.437171 s, approachRate: 0.581450 m/s, LOS rate: -2.290231 deg/s, posRepo size: 4
2021-08-13T01:32:31.782Z,1628818351.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:32.149Z,1628818352.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:32.149Z,1628818352.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:32.149Z,1628818352.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:32.150Z,1628818352.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:32.553Z,1628818352.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,009EF,189,80,80,6F,FF
2021-08-13T01:32:32.553Z,1628818352.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:32.553Z,1628818352.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:32.555Z,1628818352.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:32.965Z,1628818352.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:33.381Z,1628818353.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00A1F,189,80,80,81,FF
2021-08-13T01:32:33.382Z,1628818353.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:33.817Z,1628818353.817 [Micromodem](INFO): Nmea in: $SNTTA,0.090221,,,,013234.08*47

2021-08-13T01:32:33.874Z,1628818353.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.959999 m, bearing: 257.036356 deg, deltaT: 4.416969 s, approachRate: 0.652030 m/s, LOS rate: 0.585455 deg/s, posRepo size: 4
2021-08-13T01:32:36.237Z,1628818356.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:36.593Z,1628818356.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:36.593Z,1628818356.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:36.593Z,1628818356.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:36.594Z,1628818356.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:36.994Z,1628818356.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00A1F,189,80,80,81,FF
2021-08-13T01:32:36.994Z,1628818356.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:36.994Z,1628818356.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:36.995Z,1628818356.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:37.414Z,1628818357.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:37.810Z,1628818357.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00A4C,189,80,80,87,FF
2021-08-13T01:32:37.810Z,1628818357.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:38.253Z,1628818358.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013238.53*53

2021-08-13T01:32:38.311Z,1628818358.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 259.008642 deg, deltaT: 4.486548 s, approachRate: 0.601798 m/s, LOS rate: 0.439600 deg/s, posRepo size: 4
2021-08-13T01:32:40.706Z,1628818360.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:41.037Z,1628818361.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:41.037Z,1628818361.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:41.037Z,1628818361.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:41.038Z,1628818361.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:41.445Z,1628818361.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00A4C,189,80,80,87,FF
2021-08-13T01:32:41.445Z,1628818361.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:41.445Z,1628818361.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:41.447Z,1628818361.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:41.851Z,1628818361.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:42.261Z,1628818362.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00A7E,189,80,80,7F,FF
2021-08-13T01:32:42.262Z,1628818362.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:42.705Z,1628818362.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013242.97*56

2021-08-13T01:32:42.759Z,1628818362.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.660004 m, bearing: 263.307399 deg, deltaT: 4.414182 s, approachRate: 0.679629 m/s, LOS rate: 0.973851 deg/s, posRepo size: 4
2021-08-13T01:32:45.099Z,1628818365.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:45.481Z,1628818365.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:45.481Z,1628818365.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:45.481Z,1628818365.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:45.482Z,1628818365.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:45.893Z,1628818365.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00A7E,189,80,80,7F,FF
2021-08-13T01:32:45.893Z,1628818365.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:45.893Z,1628818365.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:45.895Z,1628818365.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:46.301Z,1628818366.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:46.729Z,1628818366.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,00AAA,189,80,80,84,FF
2021-08-13T01:32:46.729Z,1628818366.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:47.129Z,1628818367.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013247.42*5B

2021-08-13T01:32:47.148Z,1628818367.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.300003 m, bearing: 258.317946 deg, deltaT: 4.484395 s, approachRate: 0.588708 m/s, LOS rate: -1.112626 deg/s, posRepo size: 4
2021-08-13T01:32:49.539Z,1628818369.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:49.941Z,1628818369.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:49.941Z,1628818369.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:49.942Z,1628818369.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:49.943Z,1628818369.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:50.329Z,1628818370.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,00AAA,189,80,80,84,FF
2021-08-13T01:32:50.329Z,1628818370.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:50.329Z,1628818370.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:50.331Z,1628818370.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:50.752Z,1628818370.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:51.146Z,1628818371.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00AD6,189,80,80,8D,FF
2021-08-13T01:32:51.146Z,1628818371.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:51.577Z,1628818371.577 [Micromodem](INFO): Nmea in: $SNTTA,0.261625,,,,013251.86*4E

2021-08-13T01:32:51.625Z,1628818371.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.940002 m, bearing: 260.172369 deg, deltaT: 4.384392 s, approachRate: 0.602136 m/s, LOS rate: 0.422960 deg/s, posRepo size: 4
2021-08-13T01:32:54.076Z,1628818374.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:54.373Z,1628818374.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:54.373Z,1628818374.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:54.374Z,1628818374.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:54.374Z,1628818374.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:54.773Z,1628818374.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00AD6,189,80,80,8D,FF
2021-08-13T01:32:54.773Z,1628818374.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:54.773Z,1628818374.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:54.775Z,1628818374.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:55.193Z,1628818375.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:32:55.585Z,1628818375.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00B02,189,80,80,8C,FF
2021-08-13T01:32:55.586Z,1628818375.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:32:56.037Z,1628818376.037 [Micromodem](INFO): Nmea in: $SNTTA,0.087183,,,,013256.30*45

2021-08-13T01:32:56.102Z,1628818376.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.580002 m, bearing: 258.578012 deg, deltaT: 4.439252 s, approachRate: 0.594695 m/s, LOS rate: -0.359150 deg/s, posRepo size: 4
2021-08-13T01:32:58.438Z,1628818378.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:32:58.821Z,1628818378.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:32:58.821Z,1628818378.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:32:58.821Z,1628818378.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:32:58.822Z,1628818378.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:32:59.225Z,1628818379.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00B02,189,80,80,8C,FF
2021-08-13T01:32:59.225Z,1628818379.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:32:59.225Z,1628818379.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:32:59.227Z,1628818379.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:32:59.633Z,1628818379.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:00.033Z,1628818380.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,00B30,189,80,80,68,FF
2021-08-13T01:33:00.033Z,1628818380.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:00.037Z,1628818380.037 [Micromodem](INFO): Nmea in: $SNTTA,0.251106,0.252950,,,013300.76*56

2021-08-13T01:33:00.472Z,1628818380.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.339996 m, bearing: 258.841220 deg, deltaT: 4.527664 s, approachRate: 0.609585 m/s, LOS rate: 0.058133 deg/s, posRepo size: 4
2021-08-13T01:33:02.917Z,1628818382.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:03.257Z,1628818383.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:03.257Z,1628818383.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:03.257Z,1628818383.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:03.258Z,1628818383.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:03.661Z,1628818383.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,00B30,189,80,80,68,FF
2021-08-13T01:33:03.662Z,1628818383.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:03.662Z,1628818383.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:03.684Z,1628818383.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:04.066Z,1628818384.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:04.477Z,1628818384.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,00B5D,18A,80,80,68,FF
2021-08-13T01:33:04.478Z,1628818384.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:04.932Z,1628818384.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.040009 m, bearing: 259.237726 deg, deltaT: 4.392084 s, approachRate: 0.614745 m/s, LOS rate: 0.090277 deg/s, posRepo size: 4
2021-08-13T01:33:07.326Z,1628818387.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:07.737Z,1628818387.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:07.737Z,1628818387.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:07.737Z,1628818387.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:07.738Z,1628818387.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:08.105Z,1628818388.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,00B5D,18A,80,80,68,FF
2021-08-13T01:33:08.105Z,1628818388.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:08.105Z,1628818388.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:08.107Z,1628818388.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:08.525Z,1628818388.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:08.925Z,1628818388.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,00752,189,80,80,5C,FF
2021-08-13T01:33:08.925Z,1628818388.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:09.366Z,1628818389.366 [Micromodem](INFO): Nmea in: $SNTTA,0.055484,,,,013309.63*45

2021-08-13T01:33:09.388Z,1628818389.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 261.917237 deg, deltaT: 4.465344 s, approachRate: -13.907104 m/s, LOS rate: 0.600068 deg/s, posRepo size: 4
2021-08-13T01:33:11.785Z,1628818391.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:12.145Z,1628818392.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:12.145Z,1628818392.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:12.145Z,1628818392.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:12.146Z,1628818392.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:12.558Z,1628818392.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,00752,189,80,80,5C,FF
2021-08-13T01:33:12.558Z,1628818392.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:12.558Z,1628818392.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:12.561Z,1628818392.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:12.965Z,1628818392.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:13.401Z,1628818393.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,277,000,00BB7,18A,80,80,67,FF
2021-08-13T01:33:13.401Z,1628818393.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:13.797Z,1628818393.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013314.09*53

2021-08-13T01:33:13.834Z,1628818393.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.440002 m, bearing: 260.408912 deg, deltaT: 4.426231 s, approachRate: 15.249995 m/s, LOS rate: -0.340769 deg/s, posRepo size: 4
2021-08-13T01:33:16.242Z,1628818396.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:16.598Z,1628818396.598 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:16.598Z,1628818396.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:16.599Z,1628818396.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:16.599Z,1628818396.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:17.009Z,1628818397.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
277,000,00BB7,18A,80,80,67,FF
2021-08-13T01:33:17.009Z,1628818397.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:17.009Z,1628818397.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:17.011Z,1628818397.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:17.423Z,1628818397.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:17.814Z,1628818397.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00BE3,189,80,80,67,FF
2021-08-13T01:33:17.814Z,1628818397.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:18.257Z,1628818398.257 [Micromodem](INFO): Nmea in: $SNTTA,0.102426,,,,013318.54*4A

2021-08-13T01:33:18.293Z,1628818398.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.080002 m, bearing: 256.904370 deg, deltaT: 4.507454 s, approachRate: 0.585696 m/s, LOS rate: -0.777499 deg/s, posRepo size: 4
2021-08-13T01:33:20.706Z,1628818400.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:21.041Z,1628818401.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:21.041Z,1628818401.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:21.041Z,1628818401.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:21.042Z,1628818401.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:21.453Z,1628818401.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00BE3,189,80,80,67,FF
2021-08-13T01:33:21.453Z,1628818401.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:21.453Z,1628818401.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:21.455Z,1628818401.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:21.866Z,1628818401.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:22.266Z,1628818402.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00C12,189,80,80,44,FF
2021-08-13T01:33:22.267Z,1628818402.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:22.709Z,1628818402.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013322.99*5F

2021-08-13T01:33:22.744Z,1628818402.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.899994 m, bearing: 259.157185 deg, deltaT: 4.439524 s, approachRate: 0.635201 m/s, LOS rate: 0.507445 deg/s, posRepo size: 4
2021-08-13T01:33:24.308Z,1628818404.308 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T01:33:25.107Z,1628818405.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:25.491Z,1628818405.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:25.491Z,1628818405.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:25.491Z,1628818405.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:25.492Z,1628818405.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:25.897Z,1628818405.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00C12,189,80,80,44,FF
2021-08-13T01:33:25.897Z,1628818405.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:25.897Z,1628818405.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:25.916Z,1628818405.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:26.305Z,1628818406.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:27.106Z,1628818407.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013327.45*5B

2021-08-13T01:33:27.917Z,1628818407.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,036FF,189,80,80,72,FF
2021-08-13T01:33:27.918Z,1628818407.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:28.398Z,1628818408.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 807.240051 m, bearing: 260.428256 deg, deltaT: 5.663018 s, approachRate: 116.429100 m/s, LOS rate: 0.224451 deg/s, posRepo size: 4
2021-08-13T01:33:28.399Z,1628818408.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 807.24 m. Resuming terminal guidance.
2021-08-13T01:33:28.399Z,1628818408.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T01:33:30.791Z,1628818410.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:31.141Z,1628818411.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:31.141Z,1628818411.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:31.141Z,1628818411.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:31.142Z,1628818411.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:31.559Z,1628818411.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,036FF,189,80,80,72,FF
2021-08-13T01:33:31.560Z,1628818411.560 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:31.560Z,1628818411.560 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:31.561Z,1628818411.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:32.009Z,1628818412.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:32.366Z,1628818412.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00C7C,189,80,80,72,FF
2021-08-13T01:33:32.366Z,1628818412.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:32.793Z,1628818412.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013333.09*56

2021-08-13T01:33:32.844Z,1628818412.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 260.380608 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T01:33:32.845Z,1628818412.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 260.380608deg and heading rate command to 0 deg/s.
2021-08-13T01:33:35.203Z,1628818415.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:35.593Z,1628818415.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:35.593Z,1628818415.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:35.594Z,1628818415.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:35.595Z,1628818415.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:36.013Z,1628818416.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,00C7C,189,80,80,72,FF
2021-08-13T01:33:36.013Z,1628818416.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:36.013Z,1628818416.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:36.015Z,1628818416.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:36.397Z,1628818416.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:36.806Z,1628818416.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00C7C,189,80,80,72,FF
2021-08-13T01:33:36.806Z,1628818416.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:37.226Z,1628818417.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013337.54*5A

2021-08-13T01:33:37.247Z,1628818417.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 309.146875 deg, deltaT: 4.480424 s, approachRate: 0.000000 m/s, LOS rate: 10.884297 deg/s, posRepo size: 2
2021-08-13T01:33:37.250Z,1628818417.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.259995 m,
      bearing: 309.146875 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.884297 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 260.380608 deg,
      new cmd heading: 260.380608 deg.

2021-08-13T01:33:39.659Z,1628818419.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:40.029Z,1628818420.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:40.029Z,1628818420.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:40.029Z,1628818420.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:40.030Z,1628818420.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:40.433Z,1628818420.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00C7C,189,80,80,72,FF
2021-08-13T01:33:40.433Z,1628818420.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:40.433Z,1628818420.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:40.435Z,1628818420.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:40.857Z,1628818420.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:41.249Z,1628818421.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,00A6B,189,80,80,7A,FF
2021-08-13T01:33:41.250Z,1628818421.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:41.713Z,1628818421.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013341.96*55

2021-08-13T01:33:41.747Z,1628818421.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 217.029015 deg, deltaT: 4.425363 s, approachRate: -7.172293 m/s, LOS rate: -20.815888 deg/s, posRepo size: 3
2021-08-13T01:33:41.748Z,1628818421.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.815888 deg/s. Setting heading cmd to target bearing of 217.029015deg and heading rate command to 0 deg/s.
2021-08-13T01:33:44.127Z,1628818424.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:44.473Z,1628818424.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:44.473Z,1628818424.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:44.473Z,1628818424.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:44.474Z,1628818424.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:44.889Z,1628818424.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,00A6B,189,80,80,7A,FF
2021-08-13T01:33:44.889Z,1628818424.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:44.889Z,1628818424.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:44.891Z,1628818424.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:45.294Z,1628818425.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:45.707Z,1628818425.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00D00,186,80,80,7A,FF
2021-08-13T01:33:45.707Z,1628818425.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:46.141Z,1628818426.141 [Micromodem](INFO): Nmea in: $SNTTA,0.109965,,,,013346.42*47

2021-08-13T01:33:46.193Z,1628818426.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.180008 m, bearing: 301.715192 deg, deltaT: 4.444466 s, approachRate: 8.923459 m/s, LOS rate: 19.054297 deg/s, posRepo size: 4
2021-08-13T01:33:46.193Z,1628818426.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.054297 deg/s. Setting heading cmd to target bearing of 301.715192deg and heading rate command to 0 deg/s.
2021-08-13T01:33:48.543Z,1628818428.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:48.921Z,1628818428.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:48.921Z,1628818428.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:48.921Z,1628818428.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:48.922Z,1628818428.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:49.321Z,1628818429.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00D00,186,80,80,7A,FF
2021-08-13T01:33:49.321Z,1628818429.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:49.321Z,1628818429.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:49.323Z,1628818429.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:49.780Z,1628818429.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:50.138Z,1628818430.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00D2A,185,80,80,7A,FF
2021-08-13T01:33:50.138Z,1628818430.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:50.143Z,1628818430.143 [Micromodem](INFO): Nmea in: $SNTTA,0.205186,0.205436,,,013350.85*59

2021-08-13T01:33:50.569Z,1628818430.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.700012 m, bearing: 293.689282 deg, deltaT: 4.463186 s, approachRate: 0.564620 m/s, LOS rate: -1.798247 deg/s, posRepo size: 4
2021-08-13T01:33:50.571Z,1628818430.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.700012 m,
      bearing: 293.689282 deg,
      approachRate: 0.564620 m/s,
      LOS rate: -1.798247 deg/s,
      cmd update: -5.394740 deg/s,
      cmd heading: 301.715192 deg,
      new cmd heading: 301.715192 deg.

2021-08-13T01:33:52.985Z,1628818432.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:53.378Z,1628818433.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:53.378Z,1628818433.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:53.388Z,1628818433.388 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:53.389Z,1628818433.389 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:53.765Z,1628818433.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00D2A,185,80,80,7A,FF
2021-08-13T01:33:53.765Z,1628818433.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:53.765Z,1628818433.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:53.767Z,1628818433.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:54.190Z,1628818434.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:54.577Z,1628818434.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,00D54,185,80,80,7A,FF
2021-08-13T01:33:54.578Z,1628818434.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:55.009Z,1628818435.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013355.29*54

2021-08-13T01:33:55.052Z,1628818435.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 309.263616 deg, deltaT: 4.419132 s, approachRate: 0.570245 m/s, LOS rate: 3.524297 deg/s, posRepo size: 4
2021-08-13T01:33:55.054Z,1628818435.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 309.263616 deg,
      approachRate: 0.570245 m/s,
      LOS rate: 3.524297 deg/s,
      cmd update: 10.572891 deg/s,
      cmd heading: 277.877757 deg,
      new cmd heading: 275.437969 deg.

2021-08-13T01:33:57.413Z,1628818437.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:33:57.810Z,1628818437.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:33:57.811Z,1628818437.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:33:57.811Z,1628818437.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:33:57.813Z,1628818437.813 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:33:58.079Z,1628818438.079 [CTD_Seabird](ERROR): Failed to parse device response: 60,4805.30
2021-08-13T01:33:58.224Z,1628818438.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,00D54,185,80,80,7A,FF
2021-08-13T01:33:58.225Z,1628818438.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:33:58.225Z,1628818438.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:33:58.226Z,1628818438.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:33:58.616Z,1628818438.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:33:59.026Z,1628818439.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,00D54,185,80,80,7A,FF
2021-08-13T01:33:59.026Z,1628818439.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:33:59.466Z,1628818439.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013359.75*51

2021-08-13T01:33:59.487Z,1628818439.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 267.634132 deg, deltaT: 4.483830 s, approachRate: 0.000000 m/s, LOS rate: -9.284358 deg/s, posRepo size: 4
2021-08-13T01:33:59.490Z,1628818439.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 267.634132 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.284358 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 325.501347 deg,
      new cmd heading: 329.558557 deg.

2021-08-13T01:34:01.898Z,1628818441.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:02.249Z,1628818442.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:02.249Z,1628818442.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:02.249Z,1628818442.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:02.250Z,1628818442.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:02.657Z,1628818442.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,00D54,185,80,80,7A,FF
2021-08-13T01:34:02.657Z,1628818442.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:02.658Z,1628818442.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:02.663Z,1628818442.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:03.068Z,1628818443.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:03.465Z,1628818443.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,00D54,185,80,80,7A,FF
2021-08-13T01:34:03.466Z,1628818443.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:03.916Z,1628818443.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013404.19*54

2021-08-13T01:34:03.987Z,1628818443.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 254.367692 deg, deltaT: 4.403731 s, approachRate: 0.000000 m/s, LOS rate: -3.012546 deg/s, posRepo size: 4
2021-08-13T01:34:03.989Z,1628818443.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 254.367692 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.012546 deg/s,
      cmd update: -9.037637 deg/s,
      cmd heading: 272.894318 deg,
      new cmd heading: 266.899058 deg.

2021-08-13T01:34:06.354Z,1628818446.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:06.713Z,1628818446.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:06.713Z,1628818446.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:06.713Z,1628818446.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:06.714Z,1628818446.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:07.103Z,1628818447.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,00D54,185,80,80,7A,FF
2021-08-13T01:34:07.103Z,1628818447.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:07.104Z,1628818447.104 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:07.136Z,1628818447.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:07.512Z,1628818447.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:07.941Z,1628818447.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,00D54,185,80,80,7A,FF
2021-08-13T01:34:07.943Z,1628818447.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:07.967Z,1628818447.967 [Micromodem](INFO): Nmea in: $SNTTA,0.118800,0.295511,,,013408.67*5A

2021-08-13T01:34:08.356Z,1628818448.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.220001 m, bearing: 318.905303 deg, deltaT: 4.540711 s, approachRate: 0.000000 m/s, LOS rate: 14.213107 deg/s, posRepo size: 4
2021-08-13T01:34:08.357Z,1628818448.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.213107 deg/s. Setting heading cmd to target bearing of 318.905303deg and heading rate command to 0 deg/s.
2021-08-13T01:34:10.773Z,1628818450.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:11.225Z,1628818451.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:11.225Z,1628818451.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:11.225Z,1628818451.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:11.226Z,1628818451.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:11.545Z,1628818451.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,00D54,185,80,80,7A,FF
2021-08-13T01:34:11.545Z,1628818451.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:11.545Z,1628818451.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:11.547Z,1628818451.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:11.997Z,1628818451.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:12.777Z,1628818452.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00E0A,189,80,80,46,FF
2021-08-13T01:34:12.777Z,1628818452.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:12.780Z,1628818452.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013413.07*5D

2021-08-13T01:34:13.199Z,1628818453.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.139999 m, bearing: 264.159643 deg, deltaT: 4.791510 s, approachRate: 2.279031 m/s, LOS rate: -11.425555 deg/s, posRepo size: 4
2021-08-13T01:34:13.202Z,1628818453.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.139999 m,
      bearing: 264.159643 deg,
      approachRate: 2.279031 m/s,
      LOS rate: -11.425555 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 318.905303 deg,
      new cmd heading: 318.905303 deg.

2021-08-13T01:34:15.600Z,1628818455.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:16.017Z,1628818456.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:16.017Z,1628818456.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:16.017Z,1628818456.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:16.018Z,1628818456.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:16.393Z,1628818456.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00E0A,189,80,80,46,FF
2021-08-13T01:34:16.393Z,1628818456.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:16.393Z,1628818456.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:16.395Z,1628818456.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:16.814Z,1628818456.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:17.628Z,1628818457.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013417.92*55

2021-08-13T01:34:18.461Z,1628818458.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:19.226Z,1628818459.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,064B4,186,80,80,5B,FF
2021-08-13T01:34:19.226Z,1628818459.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:19.654Z,1628818459.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1509.300171 m, bearing: 299.555568 deg, deltaT: 6.447633 s, approachRate: 206.457184 m/s, LOS rate: 5.489755 deg/s, posRepo size: 4
2021-08-13T01:34:19.659Z,1628818459.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1509.300171 m,
      bearing: 299.555568 deg,
      approachRate: 206.457184 m/s,
      LOS rate: 5.489755 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 241.520720 deg,
      new cmd heading: 237.086372 deg.

2021-08-13T01:34:22.117Z,1628818462.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:22.449Z,1628818462.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:22.449Z,1628818462.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:22.449Z,1628818462.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:22.450Z,1628818462.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:22.866Z,1628818462.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,064B4,186,80,80,5B,FF
2021-08-13T01:34:22.866Z,1628818462.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:22.866Z,1628818462.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:22.869Z,1628818462.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:23.265Z,1628818463.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:24.098Z,1628818464.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00E7B,185,80,80,41,FF
2021-08-13T01:34:24.099Z,1628818464.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:24.103Z,1628818464.103 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013424.40*5A

2021-08-13T01:34:24.544Z,1628818464.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.919998 m, bearing: 271.300578 deg, deltaT: 4.899957 s, approachRate: -270.284027 m/s, LOS rate: -5.766375 deg/s, posRepo size: 4
2021-08-13T01:34:24.546Z,1628818464.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.919998 m,
      bearing: 271.300578 deg,
      approachRate: -270.284027 m/s,
      LOS rate: -5.766375 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.224626 deg,
      new cmd heading: 304.646422 deg.

2021-08-13T01:34:26.957Z,1628818466.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:27.304Z,1628818467.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:27.304Z,1628818467.304 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:27.305Z,1628818467.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:27.306Z,1628818467.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:27.733Z,1628818467.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00E7B,185,80,80,41,FF
2021-08-13T01:34:27.733Z,1628818467.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:27.734Z,1628818467.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:27.735Z,1628818467.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:28.112Z,1628818468.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:28.940Z,1628818468.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013429.26*57

2021-08-13T01:34:28.958Z,1628818468.958 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:34:29.810Z,1628818469.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:31.342Z,1628818471.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,41,FF
2021-08-13T01:34:31.342Z,1628818471.342 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,41,FF
2021-08-13T01:34:31.342Z,1628818471.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:34:32.571Z,1628818472.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:32.953Z,1628818472.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:32.953Z,1628818472.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:32.953Z,1628818472.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:32.954Z,1628818472.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:33.366Z,1628818473.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,41,FF
2021-08-13T01:34:33.366Z,1628818473.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:33.366Z,1628818473.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:33.368Z,1628818473.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:33.769Z,1628818473.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:34.171Z,1628818474.171 [Micromodem](INFO): Nmea in: $SNTTA,0.217798,0.218292,,,013434.90*56

2021-08-13T01:34:34.577Z,1628818474.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10E,000,00EE1,186,80,80,78,FF
2021-08-13T01:34:34.578Z,1628818474.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:35.022Z,1628818475.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.040009 m, bearing: 255.303537 deg, deltaT: 10.412174 s, approachRate: 0.587775 m/s, LOS rate: -1.536379 deg/s, posRepo size: 4
2021-08-13T01:34:35.023Z,1628818475.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.040009 m,
      bearing: 255.303537 deg,
      approachRate: 0.587775 m/s,
      LOS rate: -1.536379 deg/s,
      cmd update: -4.609136 deg/s,
      cmd heading: 175.133622 deg,
      new cmd heading: 170.070414 deg.

2021-08-13T01:34:37.438Z,1628818477.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:37.805Z,1628818477.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:37.805Z,1628818477.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:37.805Z,1628818477.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:37.806Z,1628818477.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:38.209Z,1628818478.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10E,000,00EE1,186,80,80,78,FF
2021-08-13T01:34:38.209Z,1628818478.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:38.209Z,1628818478.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:38.211Z,1628818478.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:38.617Z,1628818478.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:39.441Z,1628818479.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,00F0B,189,80,80,9C,FF
2021-08-13T01:34:39.441Z,1628818479.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:39.444Z,1628818479.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013439.74*51

2021-08-13T01:34:39.885Z,1628818479.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.559982 m, bearing: 205.622462 deg, deltaT: 4.886286 s, approachRate: 0.515724 m/s, LOS rate: -10.167451 deg/s, posRepo size: 4
2021-08-13T01:34:39.888Z,1628818479.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 205.622462 deg,
      approachRate: 0.515724 m/s,
      LOS rate: -10.167451 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 152.730092 deg,
      new cmd heading: 150.789166 deg.

2021-08-13T01:34:42.336Z,1628818482.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:42.696Z,1628818482.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:42.696Z,1628818482.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:42.696Z,1628818482.696 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:42.697Z,1628818482.697 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:43.080Z,1628818483.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,00F0B,189,80,80,9C,FF
2021-08-13T01:34:43.080Z,1628818483.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:43.081Z,1628818483.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:43.082Z,1628818483.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:43.488Z,1628818483.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:44.309Z,1628818484.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,00F24,185,80,80,B2,FF
2021-08-13T01:34:44.309Z,1628818484.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:44.313Z,1628818484.313 [Micromodem](INFO): Nmea in: $SNTTA,,0.365276,,,013444.61*42

2021-08-13T01:34:44.762Z,1628818484.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.059982 m, bearing: 209.675210 deg, deltaT: 4.914918 s, approachRate: 0.305193 m/s, LOS rate: 0.824581 deg/s, posRepo size: 4
2021-08-13T01:34:44.768Z,1628818484.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.059982 m,
      bearing: 209.675210 deg,
      approachRate: 0.305193 m/s,
      LOS rate: 0.824581 deg/s,
      cmd update: 2.473743 deg/s,
      cmd heading: 93.542815 deg,
      new cmd heading: 89.107374 deg.

2021-08-13T01:34:47.127Z,1628818487.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:47.521Z,1628818487.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:47.521Z,1628818487.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:47.522Z,1628818487.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:47.522Z,1628818487.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:47.929Z,1628818487.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,00F24,185,80,80,B2,FF
2021-08-13T01:34:47.929Z,1628818487.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:47.929Z,1628818487.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:47.943Z,1628818487.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:48.337Z,1628818488.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:49.145Z,1628818489.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F33,189,80,80,76,FF
2021-08-13T01:34:49.145Z,1628818489.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:49.148Z,1628818489.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013449.47*56

2021-08-13T01:34:49.563Z,1628818489.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.960007 m, bearing: 145.610248 deg, deltaT: 4.762977 s, approachRate: 0.188963 m/s, LOS rate: -13.450613 deg/s, posRepo size: 4
2021-08-13T01:34:49.564Z,1628818489.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.450613 deg/s. Setting heading cmd to target bearing of 145.610248deg and heading rate command to 0 deg/s.
2021-08-13T01:34:52.065Z,1628818492.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:52.374Z,1628818492.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:52.374Z,1628818492.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:52.374Z,1628818492.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:52.375Z,1628818492.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:52.765Z,1628818492.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F33,189,80,80,76,FF
2021-08-13T01:34:52.765Z,1628818492.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:52.765Z,1628818492.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:52.767Z,1628818492.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:53.172Z,1628818493.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:54.005Z,1628818494.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00F3D,189,80,80,35,FF
2021-08-13T01:34:54.005Z,1628818494.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:34:54.008Z,1628818494.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013454.29*52

2021-08-13T01:34:54.419Z,1628818494.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.559982 m, bearing: 124.395531 deg, deltaT: 4.953521 s, approachRate: 0.121121 m/s, LOS rate: -4.282755 deg/s, posRepo size: 4
2021-08-13T01:34:54.422Z,1628818494.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.559982 m,
      bearing: 124.395531 deg,
      approachRate: 0.121121 m/s,
      LOS rate: -4.282755 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 145.610248 deg,
      new cmd heading: 145.610248 deg.

2021-08-13T01:34:56.862Z,1628818496.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:34:57.217Z,1628818497.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:34:57.217Z,1628818497.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:34:57.217Z,1628818497.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:34:57.218Z,1628818497.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:34:57.617Z,1628818497.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F3D,189,80,80,35,FF
2021-08-13T01:34:57.618Z,1628818497.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:34:57.618Z,1628818497.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:34:57.619Z,1628818497.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:34:58.021Z,1628818498.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:34:58.848Z,1628818498.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013459.15*50

2021-08-13T01:34:59.687Z,1628818499.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:02.490Z,1628818502.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:03.276Z,1628818503.276 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.057902
2021-08-13T01:35:05.307Z,1628818505.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:05.705Z,1628818505.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:05.705Z,1628818505.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:05.705Z,1628818505.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:05.706Z,1628818505.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:06.097Z,1628818506.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00F3D,189,80,80,35,FF
2021-08-13T01:35:06.097Z,1628818506.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:06.097Z,1628818506.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:06.099Z,1628818506.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:06.514Z,1628818506.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:07.340Z,1628818507.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00EE2,189,80,80,6C,FF
2021-08-13T01:35:07.341Z,1628818507.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:35:07.343Z,1628818507.343 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013507.62*5A

2021-08-13T01:35:07.779Z,1628818507.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.099991 m, bearing: 102.031804 deg, deltaT: 13.242252 s, approachRate: -0.412316 m/s, LOS rate: -1.688816 deg/s, posRepo size: 4
2021-08-13T01:35:07.781Z,1628818507.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.099991 m,
      bearing: 102.031804 deg,
      approachRate: -0.412316 m/s,
      LOS rate: -1.688816 deg/s,
      cmd update: -5.066448 deg/s,
      cmd heading: 346.595675 deg,
      new cmd heading: 341.564219 deg.

2021-08-13T01:35:10.194Z,1628818510.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:10.549Z,1628818510.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:10.549Z,1628818510.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:10.550Z,1628818510.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:10.551Z,1628818510.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:10.953Z,1628818510.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00EE2,189,80,80,6C,FF
2021-08-13T01:35:10.954Z,1628818510.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:10.954Z,1628818510.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:10.955Z,1628818510.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:11.373Z,1628818511.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:12.194Z,1628818512.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013512.48*56

2021-08-13T01:35:13.013Z,1628818513.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:14.604Z,1628818514.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:14.605Z,1628818514.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:14.605Z,1628818514.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:35:15.856Z,1628818515.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:16.210Z,1628818516.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:16.210Z,1628818516.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:16.210Z,1628818516.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:16.211Z,1628818516.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:16.601Z,1628818516.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:16.601Z,1628818516.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:16.601Z,1628818516.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:16.603Z,1628818516.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:17.023Z,1628818517.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:17.414Z,1628818517.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:17.414Z,1628818517.414 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F0,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:17.845Z,1628818517.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013518.13*52

2021-08-13T01:35:18.710Z,1628818518.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:21.490Z,1628818521.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:22.276Z,1628818522.276 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.064946
2021-08-13T01:35:24.375Z,1628818524.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:24.690Z,1628818524.690 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:24.691Z,1628818524.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:24.691Z,1628818524.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:24.693Z,1628818524.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:25.085Z,1628818525.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0,80,63,E4
2,189,80,80,6C,FF
2021-08-13T01:35:25.085Z,1628818525.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:25.085Z,1628818525.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:25.087Z,1628818525.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:25.505Z,1628818525.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:25.905Z,1628818525.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB9,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:25.906Z,1628818525.906 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,CB9,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:26.319Z,1628818526.319 [Micromodem](INFO): Nmea in: $SNTTA,0.121903,,,,013526.61*4C

2021-08-13T01:35:27.123Z,1628818527.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:30.060Z,1628818530.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:30.756Z,1628818530.756 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.063401
2021-08-13T01:35:32.793Z,1628818532.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:33.165Z,1628818533.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:33.165Z,1628818533.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:33.165Z,1628818533.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:33.166Z,1628818533.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:33.569Z,1628818533.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB9,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:33.569Z,1628818533.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:33.569Z,1628818533.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:33.571Z,1628818533.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:34.012Z,1628818534.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:34.378Z,1628818534.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:34.378Z,1628818534.378 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E19,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:34.814Z,1628818534.814 [Micromodem](INFO): Nmea in: $SNTTA,0.120420,,,,013535.10*45

2021-08-13T01:35:35.610Z,1628818535.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:38.431Z,1628818538.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:39.236Z,1628818539.236 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069895
2021-08-13T01:35:41.268Z,1628818541.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:41.645Z,1628818541.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:41.645Z,1628818541.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:41.645Z,1628818541.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:41.646Z,1628818541.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:42.053Z,1628818542.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,0003,E4
2,189,80,80,6C,FF
2021-08-13T01:35:42.053Z,1628818542.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:42.053Z,1628818542.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:42.055Z,1628818542.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:42.453Z,1628818542.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:42.859Z,1628818542.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:42.859Z,1628818542.859 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,185,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:43.286Z,1628818543.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013543.58*53

2021-08-13T01:35:44.115Z,1628818544.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:46.961Z,1628818546.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:47.748Z,1628818547.748 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.101886
2021-08-13T01:35:49.785Z,1628818549.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:50.129Z,1628818550.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:50.129Z,1628818550.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:50.129Z,1628818550.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:50.130Z,1628818550.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:50.542Z,1628818550.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:50.542Z,1628818550.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:50.542Z,1628818550.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:50.544Z,1628818550.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:50.940Z,1628818550.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:51.346Z,1628818551.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,484,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:51.346Z,1628818551.346 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,484,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:51.774Z,1628818551.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013552.07*59

2021-08-13T01:35:52.605Z,1628818552.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:55.418Z,1628818555.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:56.200Z,1628818556.200 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.069877
2021-08-13T01:35:58.254Z,1628818558.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:35:58.640Z,1628818558.640 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:35:58.640Z,1628818558.640 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:35:58.640Z,1628818558.640 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:35:58.641Z,1628818558.641 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:35:59.017Z,1628818559.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
484,000,004
2,189,80,80,6C,FF
2021-08-13T01:35:59.017Z,1628818559.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:35:59.018Z,1628818559.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:35:59.019Z,1628818559.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:35:59.429Z,1628818559.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:35:59.842Z,1628818559.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00CAF,186,80,80,92,FF
2021-08-13T01:35:59.843Z,1628818559.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:00.277Z,1628818560.277 [Micromodem](INFO): Nmea in: $SNTTA,,0.355189,,,013600.55*47

2021-08-13T01:36:00.340Z,1628818560.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.319992 m, bearing: 101.760017 deg, deltaT: 52.586531 s, approachRate: -0.642370 m/s, LOS rate: -0.005168 deg/s, posRepo size: 4
2021-08-13T01:36:00.342Z,1628818560.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.319992 m,
      bearing: 101.760017 deg,
      approachRate: -0.642370 m/s,
      LOS rate: -0.005168 deg/s,
      cmd update: -0.015505 deg/s,
      cmd heading: 80.498609 deg,
      new cmd heading: 78.192281 deg.

2021-08-13T01:36:02.722Z,1628818562.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:03.065Z,1628818563.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:03.065Z,1628818563.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:03.066Z,1628818563.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:03.067Z,1628818563.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:03.461Z,1628818563.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00CAF,186,80,80,92,FF
2021-08-13T01:36:03.461Z,1628818563.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:03.462Z,1628818563.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:03.463Z,1628818563.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:03.878Z,1628818563.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:04.276Z,1628818564.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00C7C,183,80,80,92,FF
2021-08-13T01:36:04.277Z,1628818564.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:04.746Z,1628818564.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013605.00*5F

2021-08-13T01:36:04.775Z,1628818564.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.259995 m, bearing: 104.412316 deg, deltaT: 4.389671 s, approachRate: -0.697090 m/s, LOS rate: 0.604214 deg/s, posRepo size: 4
2021-08-13T01:36:04.778Z,1628818564.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.259995 m,
      bearing: 104.412316 deg,
      approachRate: -0.697090 m/s,
      LOS rate: 0.604214 deg/s,
      cmd update: 1.812641 deg/s,
      cmd heading: 80.429848 deg,
      new cmd heading: 80.422719 deg.

2021-08-13T01:36:07.122Z,1628818567.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:07.509Z,1628818567.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:07.509Z,1628818567.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:07.509Z,1628818567.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:07.510Z,1628818567.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:07.944Z,1628818567.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00C7C,183,80,80,92,FF
2021-08-13T01:36:07.945Z,1628818567.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:07.945Z,1628818567.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:07.951Z,1628818567.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:08.330Z,1628818568.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:08.748Z,1628818568.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,00C4D,185,80,80,92,FF
2021-08-13T01:36:08.749Z,1628818568.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:09.157Z,1628818569.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013609.48*5F

2021-08-13T01:36:09.179Z,1628818569.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.440018 m, bearing: 109.356048 deg, deltaT: 4.443854 s, approachRate: -0.634579 m/s, LOS rate: 1.112487 deg/s, posRepo size: 4
2021-08-13T01:36:09.182Z,1628818569.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 109.356048 deg,
      approachRate: -0.634579 m/s,
      LOS rate: 1.112487 deg/s,
      cmd update: 3.337462 deg/s,
      cmd heading: 88.521277 deg,
      new cmd heading: 89.246020 deg.

2021-08-13T01:36:11.577Z,1628818571.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:11.989Z,1628818571.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:11.989Z,1628818571.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:11.990Z,1628818571.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:11.990Z,1628818571.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:12.361Z,1628818572.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,00C4D,185,80,80,92,FF
2021-08-13T01:36:12.361Z,1628818572.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:12.361Z,1628818572.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:12.363Z,1628818572.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:12.757Z,1628818572.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:13.169Z,1628818573.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,00466,187,80,80,57,FF
2021-08-13T01:36:13.169Z,1628818573.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:13.597Z,1628818573.597 [Micromodem](INFO): Nmea in: $SNTTA,0.100880,,,,013613.89*46

2021-08-13T01:36:13.630Z,1628818573.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 112.960776 deg, deltaT: 4.430583 s, approachRate: -27.395948 m/s, LOS rate: 0.813601 deg/s, posRepo size: 4
2021-08-13T01:36:13.630Z,1628818573.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.06 m.
2021-08-13T01:36:13.633Z,1628818573.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.059999 m,
      bearing: 112.960776 deg,
      approachRate: -27.395948 m/s,
      LOS rate: 0.813601 deg/s,
      cmd update: 2.440804 deg/s,
      cmd heading: 103.228288 deg,
      new cmd heading: 104.708646 deg.

2021-08-13T01:36:14.050Z,1628818574.050 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:36:14.119Z,1628818574.119 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:36:14.119Z,1628818574.119 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:36:14.120Z,1628818574.120 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:36:14.121Z,1628818574.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:36:14.121Z,1628818574.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:36:14.121Z,1628818574.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:36:14.429Z,1628818574.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:36:14.430Z,1628818574.430 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:36:14.430Z,1628818574.430 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:36:14.430Z,1628818574.430 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:36:15.714Z,1628818575.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:16.009Z,1628818576.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:16.009Z,1628818576.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:16.009Z,1628818576.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:16.010Z,1628818576.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:16.406Z,1628818576.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,00466,187,80,80,57,FF
2021-08-13T01:36:16.406Z,1628818576.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:16.406Z,1628818576.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:16.409Z,1628818576.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:16.796Z,1628818576.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:17.619Z,1628818577.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013617.94*51

2021-08-13T01:36:18.455Z,1628818578.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:20.026Z,1628818580.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:20.026Z,1628818580.026 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:20.026Z,1628818580.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:36:21.294Z,1628818581.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:21.647Z,1628818581.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:21.648Z,1628818581.648 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:21.648Z,1628818581.648 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:21.649Z,1628818581.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:22.042Z,1628818582.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:22.042Z,1628818582.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:22.042Z,1628818582.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:22.043Z,1628818582.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:22.452Z,1628818582.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:23.278Z,1628818583.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013623.57*59

2021-08-13T01:36:24.143Z,1628818584.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:25.773Z,1628818585.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:25.773Z,1628818585.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:25.773Z,1628818585.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:36:27.006Z,1628818587.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:27.297Z,1628818587.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:27.297Z,1628818587.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:27.297Z,1628818587.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:27.298Z,1628818587.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:27.729Z,1628818587.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,57,FF
2021-08-13T01:36:27.729Z,1628818587.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:27.729Z,1628818587.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:27.731Z,1628818587.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:28.173Z,1628818588.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:28.588Z,1628818588.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00B64,188,80,80,A4,FF
2021-08-13T01:36:28.588Z,1628818588.588 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:28.620Z,1628818588.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:36:28.998Z,1628818588.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013629.26*55

2021-08-13T01:36:29.028Z,1628818589.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.460007 m, bearing: 102.602876 deg, deltaT: 15.407261 s, approachRate: 6.970740 m/s, LOS rate: -0.672274 deg/s, posRepo size: 4
2021-08-13T01:36:29.030Z,1628818589.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 102.602876 deg,
      approachRate: 6.970740 m/s,
      LOS rate: -0.672274 deg/s,
      cmd update: -2.016822 deg/s,
      cmd heading: 140.886275 deg,
      new cmd heading: 141.894986 deg.

2021-08-13T01:36:29.414Z,1628818589.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T01:36:29.414Z,1628818589.414 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:36:29.415Z,1628818589.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T01:36:29.415Z,1628818589.415 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:36:29.416Z,1628818589.416 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T01:36:29.416Z,1628818589.416 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T01:36:29.819Z,1628818589.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T01:36:29.819Z,1628818589.819 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:36:29.820Z,1628818589.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T01:36:29.820Z,1628818589.820 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T01:36:31.419Z,1628818591.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:31.793Z,1628818591.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:31.793Z,1628818591.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:31.793Z,1628818591.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:31.794Z,1628818591.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:32.199Z,1628818592.199 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00B64,188,80,80,A4,FF
2021-08-13T01:36:32.199Z,1628818592.199 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:32.199Z,1628818592.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:32.201Z,1628818592.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:32.601Z,1628818592.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:33.009Z,1628818593.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00B31,18A,80,80,9F,FF
2021-08-13T01:36:33.010Z,1628818593.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:33.442Z,1628818593.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013633.73*5E

2021-08-13T01:36:33.528Z,1628818593.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.400009 m, bearing: 98.967255 deg, deltaT: 4.461693 s, approachRate: -0.685838 m/s, LOS rate: -0.814852 deg/s, posRepo size: 4
2021-08-13T01:36:33.530Z,1628818593.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.400009 m,
      bearing: 98.967255 deg,
      approachRate: -0.685838 m/s,
      LOS rate: -0.814852 deg/s,
      cmd update: -2.444557 deg/s,
      cmd heading: 131.882784 deg,
      new cmd heading: 131.053786 deg.

2021-08-13T01:36:35.890Z,1628818595.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:36.233Z,1628818596.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:36.233Z,1628818596.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:36.233Z,1628818596.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:36.234Z,1628818596.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:36.639Z,1628818596.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00B31,18A,80,80,9F,FF
2021-08-13T01:36:36.639Z,1628818596.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:36.639Z,1628818596.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:36.641Z,1628818596.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:37.044Z,1628818597.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:37.449Z,1628818597.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00B09,189,80,80,88,FF
2021-08-13T01:36:37.449Z,1628818597.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:37.898Z,1628818597.898 [Micromodem](INFO): Nmea in: $SNTTA,0.291926,,,,013638.17*4E

2021-08-13T01:36:37.988Z,1628818597.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.000000 m, bearing: 101.644601 deg, deltaT: 4.387531 s, approachRate: -0.547007 m/s, LOS rate: 0.610217 deg/s, posRepo size: 4
2021-08-13T01:36:37.990Z,1628818597.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 101.644601 deg,
      approachRate: -0.547007 m/s,
      LOS rate: 0.610217 deg/s,
      cmd update: 1.830651 deg/s,
      cmd heading: 121.156727 deg,
      new cmd heading: 119.891642 deg.

2021-08-13T01:36:40.007Z,1628818600.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:40.277Z,1628818600.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:40.277Z,1628818600.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:40.277Z,1628818600.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:40.278Z,1628818600.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:40.688Z,1628818600.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00B09,189,80,80,88,FF
2021-08-13T01:36:40.689Z,1628818600.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:40.690Z,1628818600.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:40.695Z,1628818600.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:41.084Z,1628818601.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:41.489Z,1628818601.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,00AD7,188,80,80,AB,FF
2021-08-13T01:36:41.490Z,1628818601.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:41.924Z,1628818601.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013642.22*5C

2021-08-13T01:36:42.005Z,1628818602.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.000000 m, bearing: 97.319192 deg, deltaT: 4.040547 s, approachRate: -0.742474 m/s, LOS rate: -1.070501 deg/s, posRepo size: 4
2021-08-13T01:36:42.007Z,1628818602.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.000000 m,
      bearing: 97.319192 deg,
      approachRate: -0.742474 m/s,
      LOS rate: -1.070501 deg/s,
      cmd update: -3.211502 deg/s,
      cmd heading: 128.553110 deg,
      new cmd heading: 129.457437 deg.

2021-08-13T01:36:44.362Z,1628818604.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:44.733Z,1628818604.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:44.734Z,1628818604.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:44.734Z,1628818604.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:44.735Z,1628818604.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:45.121Z,1628818605.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,00AD7,188,80,80,AB,FF
2021-08-13T01:36:45.121Z,1628818605.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:45.122Z,1628818605.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:45.123Z,1628818605.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:45.528Z,1628818605.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:45.969Z,1628818605.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00AA6,18A,80,80,9B,FF
2021-08-13T01:36:45.970Z,1628818605.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:46.374Z,1628818606.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013646.65*5B

2021-08-13T01:36:46.391Z,1628818606.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.060005 m, bearing: 96.591531 deg, deltaT: 4.541385 s, approachRate: -0.647378 m/s, LOS rate: -0.160229 deg/s, posRepo size: 4
2021-08-13T01:36:46.393Z,1628818606.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.060005 m,
      bearing: 96.591531 deg,
      approachRate: -0.647378 m/s,
      LOS rate: -0.160229 deg/s,
      cmd update: -0.480687 deg/s,
      cmd heading: 113.993751 deg,
      new cmd heading: 112.868537 deg.

2021-08-13T01:36:48.794Z,1628818608.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:49.161Z,1628818609.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:49.161Z,1628818609.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:49.161Z,1628818609.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:49.162Z,1628818609.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:49.565Z,1628818609.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00AA6,18A,80,80,9B,FF
2021-08-13T01:36:49.565Z,1628818609.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:49.565Z,1628818609.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:49.567Z,1628818609.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:50.000Z,1628818610.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:50.377Z,1628818610.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,00A74,185,80,80,A9,FF
2021-08-13T01:36:50.377Z,1628818610.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:50.814Z,1628818610.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013651.09*57

2021-08-13T01:36:50.846Z,1628818610.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.060005 m, bearing: 100.075747 deg, deltaT: 4.382315 s, approachRate: -0.684570 m/s, LOS rate: 0.795063 deg/s, posRepo size: 4
2021-08-13T01:36:50.850Z,1628818610.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.060005 m,
      bearing: 100.075747 deg,
      approachRate: -0.684570 m/s,
      LOS rate: 0.795063 deg/s,
      cmd update: 2.385189 deg/s,
      cmd heading: 111.887240 deg,
      new cmd heading: 111.683952 deg.

2021-08-13T01:36:53.231Z,1628818613.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:53.605Z,1628818613.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:53.605Z,1628818613.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:53.605Z,1628818613.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:53.606Z,1628818613.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:54.013Z,1628818614.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,00A74,185,80,80,A9,FF
2021-08-13T01:36:54.013Z,1628818614.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:54.013Z,1628818614.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:54.015Z,1628818614.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:54.421Z,1628818614.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:54.825Z,1628818614.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00A40,186,80,80,AC,FF
2021-08-13T01:36:54.825Z,1628818614.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:54.915Z,1628818614.915 [CTD_Seabird](ERROR): Failed to parse device response: .56
2021-08-13T01:36:55.261Z,1628818615.261 [Micromodem](INFO): Nmea in: $SNTTA,0.086867,,,,013655.54*42

2021-08-13T01:36:55.291Z,1628818615.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.940002 m, bearing: 103.330852 deg, deltaT: 4.497335 s, approachRate: -0.693745 m/s, LOS rate: 0.723785 deg/s, posRepo size: 4
2021-08-13T01:36:55.294Z,1628818615.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 103.330852 deg,
      approachRate: -0.693745 m/s,
      LOS rate: 0.723785 deg/s,
      cmd update: 2.171355 deg/s,
      cmd heading: 122.633574 deg,
      new cmd heading: 123.499404 deg.

2021-08-13T01:36:57.707Z,1628818617.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:36:58.053Z,1628818618.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:36:58.053Z,1628818618.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:36:58.053Z,1628818618.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:36:58.054Z,1628818618.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:36:58.461Z,1628818618.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00A40,186,80,80,AC,FF
2021-08-13T01:36:58.461Z,1628818618.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:36:58.461Z,1628818618.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:36:58.463Z,1628818618.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:36:58.861Z,1628818618.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:36:59.265Z,1628818619.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,00A09,186,80,80,A1,FF
2021-08-13T01:36:59.265Z,1628818619.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:36:59.709Z,1628818619.709 [Micromodem](INFO): Nmea in: $SNTTA,0.097799,,,,013659.99*41

2021-08-13T01:36:59.749Z,1628818619.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.640007 m, bearing: 100.985993 deg, deltaT: 4.354692 s, approachRate: -0.757802 m/s, LOS rate: -0.538467 deg/s, posRepo size: 4
2021-08-13T01:36:59.751Z,1628818619.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 100.985993 deg,
      approachRate: -0.757802 m/s,
      LOS rate: -0.538467 deg/s,
      cmd update: -1.615401 deg/s,
      cmd heading: 132.088814 deg,
      new cmd heading: 133.101400 deg.

2021-08-13T01:37:02.144Z,1628818622.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:02.497Z,1628818622.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:02.497Z,1628818622.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:02.497Z,1628818622.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:02.498Z,1628818622.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:02.921Z,1628818622.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,00A09,186,80,80,A1,FF
2021-08-13T01:37:02.921Z,1628818622.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:02.922Z,1628818622.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:02.923Z,1628818622.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:03.311Z,1628818623.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:03.741Z,1628818623.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28E,000,009DD,18A,80,80,9E,FF
2021-08-13T01:37:03.741Z,1628818623.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:04.145Z,1628818624.145 [Micromodem](INFO): Nmea in: $SNTTA,0.358625,,,,013704.45*4F

2021-08-13T01:37:04.205Z,1628818624.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 99.720509 deg, deltaT: 4.526487 s, approachRate: -0.583234 m/s, LOS rate: -0.279573 deg/s, posRepo size: 4
2021-08-13T01:37:04.207Z,1628818624.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.000008 m,
      bearing: 99.720509 deg,
      approachRate: -0.583234 m/s,
      LOS rate: -0.279573 deg/s,
      cmd update: -0.838719 deg/s,
      cmd heading: 124.790282 deg,
      new cmd heading: 124.138395 deg.

2021-08-13T01:37:06.563Z,1628818626.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:06.951Z,1628818626.951 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:06.951Z,1628818626.951 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:06.951Z,1628818626.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:06.952Z,1628818626.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:07.341Z,1628818627.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28E,000,009DD,18A,80,80,9E,FF
2021-08-13T01:37:07.341Z,1628818627.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:07.341Z,1628818627.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:07.343Z,1628818627.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:07.749Z,1628818627.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:08.149Z,1628818628.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,009A8,187,80,80,A8,FF
2021-08-13T01:37:08.150Z,1628818628.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:08.614Z,1628818628.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013708.87*5C

2021-08-13T01:37:08.632Z,1628818628.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.820000 m, bearing: 99.149676 deg, deltaT: 4.451914 s, approachRate: -0.714301 m/s, LOS rate: -0.128222 deg/s, posRepo size: 4
2021-08-13T01:37:08.634Z,1628818628.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.820000 m,
      bearing: 99.149676 deg,
      approachRate: -0.714301 m/s,
      LOS rate: -0.128222 deg/s,
      cmd update: -0.384666 deg/s,
      cmd heading: 121.054588 deg,
      new cmd heading: 120.738442 deg.

2021-08-13T01:37:11.024Z,1628818631.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:11.381Z,1628818631.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:11.381Z,1628818631.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:11.381Z,1628818631.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:11.382Z,1628818631.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:11.793Z,1628818631.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,009A8,187,80,80,A8,FF
2021-08-13T01:37:11.793Z,1628818631.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:11.793Z,1628818631.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:11.795Z,1628818631.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:12.193Z,1628818632.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:13.022Z,1628818633.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013713.32*58

2021-08-13T01:37:13.862Z,1628818633.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:15.418Z,1628818635.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,A8,FF
2021-08-13T01:37:15.418Z,1628818635.418 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,A8,FF
2021-08-13T01:37:15.418Z,1628818635.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:37:16.510Z,1628818636.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:16.764Z,1628818636.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:16.764Z,1628818636.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:16.765Z,1628818636.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:16.766Z,1628818636.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:17.157Z,1628818637.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,A8,FF
2021-08-13T01:37:17.157Z,1628818637.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:17.157Z,1628818637.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:17.159Z,1628818637.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:17.579Z,1628818637.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:18.013Z,1628818638.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,00939,189,80,80,90,FF
2021-08-13T01:37:18.014Z,1628818638.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:18.046Z,1628818638.046 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:37:18.401Z,1628818638.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013718.69*5D

2021-08-13T01:37:18.444Z,1628818638.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.159996 m, bearing: 92.279121 deg, deltaT: 9.821954 s, approachRate: -0.678073 m/s, LOS rate: -0.699510 deg/s, posRepo size: 4
2021-08-13T01:37:18.446Z,1628818638.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 92.279121 deg,
      approachRate: -0.678073 m/s,
      LOS rate: -0.699510 deg/s,
      cmd update: -2.098530 deg/s,
      cmd heading: 117.273941 deg,
      new cmd heading: 117.142825 deg.

2021-08-13T01:37:20.848Z,1628818640.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:21.209Z,1628818641.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:21.209Z,1628818641.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:21.209Z,1628818641.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:21.210Z,1628818641.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:21.617Z,1628818641.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,00939,189,80,80,90,FF
2021-08-13T01:37:21.617Z,1628818641.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:21.617Z,1628818641.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:21.619Z,1628818641.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:22.028Z,1628818642.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:22.429Z,1628818642.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00909,187,80,80,96,FF
2021-08-13T01:37:22.429Z,1628818642.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:22.862Z,1628818642.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013723.15*5E

2021-08-13T01:37:22.912Z,1628818642.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 94.911079 deg, deltaT: 4.363814 s, approachRate: -0.659972 m/s, LOS rate: 0.603133 deg/s, posRepo size: 4
2021-08-13T01:37:22.914Z,1628818642.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.279999 m,
      bearing: 94.911079 deg,
      approachRate: -0.659972 m/s,
      LOS rate: 0.603133 deg/s,
      cmd update: 1.809398 deg/s,
      cmd heading: 108.116816 deg,
      new cmd heading: 107.140634 deg.

2021-08-13T01:37:25.272Z,1628818645.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:25.653Z,1628818645.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:25.653Z,1628818645.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:25.653Z,1628818645.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:25.654Z,1628818645.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:26.069Z,1628818646.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00909,187,80,80,96,FF
2021-08-13T01:37:26.069Z,1628818646.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:26.069Z,1628818646.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:26.070Z,1628818646.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:26.474Z,1628818646.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:26.868Z,1628818646.868 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,008D2,185,80,80,B2,FF
2021-08-13T01:37:26.869Z,1628818646.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:27.309Z,1628818647.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013727.60*58

2021-08-13T01:37:27.332Z,1628818647.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 96.374632 deg, deltaT: 4.490279 s, approachRate: -0.734920 m/s, LOS rate: 0.325938 deg/s, posRepo size: 4
2021-08-13T01:37:27.334Z,1628818647.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 96.374632 deg,
      approachRate: -0.734920 m/s,
      LOS rate: 0.325938 deg/s,
      cmd update: 0.977814 deg/s,
      cmd heading: 116.234609 deg,
      new cmd heading: 116.955805 deg.

2021-08-13T01:37:29.758Z,1628818649.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:30.113Z,1628818650.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:30.113Z,1628818650.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:30.113Z,1628818650.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:30.114Z,1628818650.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:30.501Z,1628818650.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,008D2,185,80,80,B2,FF
2021-08-13T01:37:30.501Z,1628818650.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:30.502Z,1628818650.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:30.503Z,1628818650.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:30.921Z,1628818650.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:31.313Z,1628818651.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,0089E,187,80,80,9C,FF
2021-08-13T01:37:31.313Z,1628818651.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:31.761Z,1628818651.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013732.03*59

2021-08-13T01:37:31.787Z,1628818651.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 94.120785 deg, deltaT: 4.422763 s, approachRate: -0.705442 m/s, LOS rate: -0.509601 deg/s, posRepo size: 4
2021-08-13T01:37:31.790Z,1628818651.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.860001 m,
      bearing: 94.120785 deg,
      approachRate: -0.705442 m/s,
      LOS rate: -0.509601 deg/s,
      cmd update: -1.528804 deg/s,
      cmd heading: 120.562462 deg,
      new cmd heading: 120.981008 deg.

2021-08-13T01:37:34.183Z,1628818654.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:34.560Z,1628818654.560 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:34.560Z,1628818654.560 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:34.560Z,1628818654.560 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:34.561Z,1628818654.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:34.949Z,1628818654.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,0089E,187,80,80,9C,FF
2021-08-13T01:37:34.950Z,1628818654.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:34.950Z,1628818654.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:34.951Z,1628818654.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:35.365Z,1628818655.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:35.757Z,1628818655.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,0086D,187,80,80,8D,FF
2021-08-13T01:37:35.757Z,1628818655.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:36.194Z,1628818656.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013736.48*52

2021-08-13T01:37:36.230Z,1628818656.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.920006 m, bearing: 95.624417 deg, deltaT: 4.451253 s, approachRate: -0.660487 m/s, LOS rate: 0.337800 deg/s, posRepo size: 4
2021-08-13T01:37:36.232Z,1628818656.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.920006 m,
      bearing: 95.624417 deg,
      approachRate: -0.660487 m/s,
      LOS rate: 0.337800 deg/s,
      cmd update: 1.013399 deg/s,
      cmd heading: 113.757142 deg,
      new cmd heading: 113.115934 deg.

2021-08-13T01:37:38.710Z,1628818658.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:38.985Z,1628818658.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:38.985Z,1628818658.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:38.985Z,1628818658.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:38.986Z,1628818658.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:39.401Z,1628818659.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,0086D,187,80,80,8D,FF
2021-08-13T01:37:39.401Z,1628818659.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:39.401Z,1628818659.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:39.403Z,1628818659.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:39.796Z,1628818659.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:40.206Z,1628818660.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,0083B,186,80,80,99,FF
2021-08-13T01:37:40.207Z,1628818660.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:40.641Z,1628818660.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013740.93*55

2021-08-13T01:37:40.721Z,1628818660.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 94.031863 deg, deltaT: 4.452992 s, approachRate: -0.673706 m/s, LOS rate: -0.357637 deg/s, posRepo size: 4
2021-08-13T01:37:40.723Z,1628818660.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 94.031863 deg,
      approachRate: -0.673706 m/s,
      LOS rate: -0.357637 deg/s,
      cmd update: -1.072911 deg/s,
      cmd heading: 118.270458 deg,
      new cmd heading: 118.729091 deg.

2021-08-13T01:37:43.061Z,1628818663.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:43.441Z,1628818663.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:43.442Z,1628818663.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:43.442Z,1628818663.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:43.443Z,1628818663.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:43.833Z,1628818663.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,0083B,186,80,80,99,FF
2021-08-13T01:37:43.833Z,1628818663.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:43.833Z,1628818663.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:43.835Z,1628818663.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:44.255Z,1628818664.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:44.643Z,1628818664.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23F,000,00808,18A,80,80,9C,FF
2021-08-13T01:37:44.643Z,1628818664.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:45.105Z,1628818665.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013745.36*5F

2021-08-13T01:37:45.156Z,1628818665.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.860001 m, bearing: 91.829168 deg, deltaT: 4.441973 s, approachRate: -0.688883 m/s, LOS rate: -0.495882 deg/s, posRepo size: 4
2021-08-13T01:37:45.158Z,1628818665.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.860001 m,
      bearing: 91.829168 deg,
      approachRate: -0.688883 m/s,
      LOS rate: -0.495882 deg/s,
      cmd update: -1.487646 deg/s,
      cmd heading: 113.508993 deg,
      new cmd heading: 113.034923 deg.

2021-08-13T01:37:47.517Z,1628818667.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:47.886Z,1628818667.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:47.886Z,1628818667.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:47.886Z,1628818667.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:47.887Z,1628818667.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:48.278Z,1628818668.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23F,000,00808,18A,80,80,9C,FF
2021-08-13T01:37:48.278Z,1628818668.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:48.278Z,1628818668.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:48.283Z,1628818668.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:48.707Z,1628818668.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:49.089Z,1628818669.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F3,000,007D6,186,80,80,9A,FF
2021-08-13T01:37:49.089Z,1628818669.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:49.533Z,1628818669.533 [Micromodem](INFO): Nmea in: $SNTTA,0.130327,,,,013749.81*45

2021-08-13T01:37:49.550Z,1628818669.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.859993 m, bearing: 91.152071 deg, deltaT: 4.451181 s, approachRate: -0.673980 m/s, LOS rate: -0.152116 deg/s, posRepo size: 4
2021-08-13T01:37:49.552Z,1628818669.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.859993 m,
      bearing: 91.152071 deg,
      approachRate: -0.673980 m/s,
      LOS rate: -0.152116 deg/s,
      cmd update: -0.456349 deg/s,
      cmd heading: 106.898152 deg,
      new cmd heading: 106.297439 deg.

2021-08-13T01:37:51.994Z,1628818671.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:52.325Z,1628818672.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:52.325Z,1628818672.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:52.325Z,1628818672.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:52.326Z,1628818672.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:52.742Z,1628818672.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F3,000,007D6,186,80,80,9A,FF
2021-08-13T01:37:52.742Z,1628818672.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:52.742Z,1628818672.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:52.744Z,1628818672.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:53.136Z,1628818673.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:53.529Z,1628818673.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,007A5,186,80,80,97,FF
2021-08-13T01:37:53.530Z,1628818673.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:53.981Z,1628818673.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013754.27*5F

2021-08-13T01:37:54.081Z,1628818674.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.920006 m, bearing: 94.903996 deg, deltaT: 4.389067 s, approachRate: -0.669843 m/s, LOS rate: 0.854834 deg/s, posRepo size: 4
2021-08-13T01:37:54.083Z,1628818674.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.920006 m,
      bearing: 94.903996 deg,
      approachRate: -0.669843 m/s,
      LOS rate: 0.854834 deg/s,
      cmd update: 2.564503 deg/s,
      cmd heading: 104.890000 deg,
      new cmd heading: 104.646276 deg.

2021-08-13T01:37:56.072Z,1628818676.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:37:56.357Z,1628818676.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:37:56.357Z,1628818676.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:37:56.357Z,1628818676.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:37:56.358Z,1628818676.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:37:56.770Z,1628818676.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,007A5,186,80,80,97,FF
2021-08-13T01:37:56.770Z,1628818676.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:37:56.771Z,1628818676.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:37:56.804Z,1628818676.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:37:57.085Z,1628818677.085 [CTD_Seabird](ERROR): Failed to parse device response: 5,4.75300,4808.06
2021-08-13T01:37:57.183Z,1628818677.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:37:57.574Z,1628818677.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,00771,186,80,80,87,FF
2021-08-13T01:37:57.574Z,1628818677.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:37:58.034Z,1628818678.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013758.38*5D

2021-08-13T01:37:58.154Z,1628818678.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 98.371069 deg, deltaT: 4.064889 s, approachRate: -0.767549 m/s, LOS rate: 0.852932 deg/s, posRepo size: 4
2021-08-13T01:37:58.161Z,1628818678.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 98.371069 deg,
      approachRate: -0.767549 m/s,
      LOS rate: 0.852932 deg/s,
      cmd update: 2.558795 deg/s,
      cmd heading: 115.263027 deg,
      new cmd heading: 116.706783 deg.

2021-08-13T01:38:00.415Z,1628818680.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:00.801Z,1628818680.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:00.801Z,1628818680.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:00.801Z,1628818680.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:00.802Z,1628818680.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:01.209Z,1628818681.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,00771,186,80,80,87,FF
2021-08-13T01:38:01.209Z,1628818681.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:01.210Z,1628818681.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:01.211Z,1628818681.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:01.613Z,1628818681.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:02.013Z,1628818682.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,0073B,186,80,80,66,FF
2021-08-13T01:38:02.013Z,1628818682.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:02.449Z,1628818682.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013802.74*55

2021-08-13T01:38:02.485Z,1628818682.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 94.111824 deg, deltaT: 4.523546 s, approachRate: -0.716252 m/s, LOS rate: -0.941572 deg/s, posRepo size: 4
2021-08-13T01:38:02.487Z,1628818682.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.560005 m,
      bearing: 94.111824 deg,
      approachRate: -0.716252 m/s,
      LOS rate: -0.941572 deg/s,
      cmd update: -2.824716 deg/s,
      cmd heading: 126.859583 deg,
      new cmd heading: 127.782381 deg.

2021-08-13T01:38:04.903Z,1628818684.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:05.249Z,1628818685.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:05.249Z,1628818685.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:05.249Z,1628818685.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:05.250Z,1628818685.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:05.679Z,1628818685.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,0073B,186,80,80,66,FF
2021-08-13T01:38:05.679Z,1628818685.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:05.684Z,1628818685.684 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:05.694Z,1628818685.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:06.069Z,1628818686.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:06.469Z,1628818686.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00710,189,80,80,A7,FF
2021-08-13T01:38:06.470Z,1628818686.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:06.892Z,1628818686.892 [Micromodem](INFO): Nmea in: $SNTTA,0.049478,,,,013807.22*4B

2021-08-13T01:38:06.953Z,1628818686.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.980003 m, bearing: 90.633455 deg, deltaT: 4.352433 s, approachRate: -0.592772 m/s, LOS rate: -0.799178 deg/s, posRepo size: 4
2021-08-13T01:38:06.955Z,1628818686.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.980003 m,
      bearing: 90.633455 deg,
      approachRate: -0.592772 m/s,
      LOS rate: -0.799178 deg/s,
      cmd update: -2.397534 deg/s,
      cmd heading: 114.532634 deg,
      new cmd heading: 113.230680 deg.

2021-08-13T01:38:09.318Z,1628818689.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:09.716Z,1628818689.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:09.717Z,1628818689.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:09.717Z,1628818689.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:09.718Z,1628818689.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:10.097Z,1628818690.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00710,189,80,80,A7,FF
2021-08-13T01:38:10.097Z,1628818690.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:10.097Z,1628818690.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:10.099Z,1628818690.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:10.509Z,1628818690.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:10.909Z,1628818690.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,006DC,189,80,80,9E,FF
2021-08-13T01:38:10.910Z,1628818690.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:11.349Z,1628818691.349 [Micromodem](INFO): Nmea in: $SNTTA,0.022243,,,,013811.63*4A

2021-08-13T01:38:11.371Z,1628818691.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.860001 m, bearing: 91.656726 deg, deltaT: 4.483973 s, approachRate: -0.695812 m/s, LOS rate: 0.228206 deg/s, posRepo size: 4
2021-08-13T01:38:11.374Z,1628818691.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.860001 m,
      bearing: 91.656726 deg,
      approachRate: -0.695812 m/s,
      LOS rate: 0.228206 deg/s,
      cmd update: 0.684619 deg/s,
      cmd heading: 103.801289 deg,
      new cmd heading: 102.823123 deg.

2021-08-13T01:38:13.781Z,1628818693.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:14.133Z,1628818694.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:14.133Z,1628818694.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:14.133Z,1628818694.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:14.134Z,1628818694.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:14.541Z,1628818694.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,006DC,189,80,80,9E,FF
2021-08-13T01:38:14.541Z,1628818694.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:14.542Z,1628818694.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:14.543Z,1628818694.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:14.945Z,1628818694.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:15.354Z,1628818695.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,006AA,186,80,80,77,FF
2021-08-13T01:38:15.354Z,1628818695.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:15.795Z,1628818695.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013816.07*54

2021-08-13T01:38:15.822Z,1628818695.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 96.542210 deg, deltaT: 4.428113 s, approachRate: -0.677488 m/s, LOS rate: 1.103288 deg/s, posRepo size: 4
2021-08-13T01:38:15.824Z,1628818695.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 96.542210 deg,
      approachRate: -0.677488 m/s,
      LOS rate: 1.103288 deg/s,
      cmd update: 3.309864 deg/s,
      cmd heading: 106.835607 deg,
      new cmd heading: 107.127404 deg.

2021-08-13T01:38:18.250Z,1628818698.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:18.602Z,1628818698.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:18.603Z,1628818698.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:18.605Z,1628818698.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:18.618Z,1628818698.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:18.989Z,1628818698.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,006AA,186,80,80,77,FF
2021-08-13T01:38:18.989Z,1628818698.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:18.989Z,1628818698.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:18.991Z,1628818698.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:19.405Z,1628818699.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:19.797Z,1628818699.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0067A,185,80,80,86,FF
2021-08-13T01:38:19.798Z,1628818699.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:20.253Z,1628818700.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013820.52*51

2021-08-13T01:38:20.297Z,1628818700.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 94.089640 deg, deltaT: 4.473668 s, approachRate: -0.643767 m/s, LOS rate: -0.548224 deg/s, posRepo size: 4
2021-08-13T01:38:20.299Z,1628818700.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 94.089640 deg,
      approachRate: -0.643767 m/s,
      LOS rate: -0.548224 deg/s,
      cmd update: -1.644671 deg/s,
      cmd heading: 121.619592 deg,
      new cmd heading: 123.058032 deg.

2021-08-13T01:38:22.671Z,1628818702.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:23.029Z,1628818703.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:23.029Z,1628818703.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:23.029Z,1628818703.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:23.030Z,1628818703.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:23.441Z,1628818703.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0067A,185,80,80,86,FF
2021-08-13T01:38:23.441Z,1628818703.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:23.441Z,1628818703.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:23.443Z,1628818703.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:23.851Z,1628818703.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:24.253Z,1628818704.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,0064E,18A,80,80,37,FF
2021-08-13T01:38:24.253Z,1628818704.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:24.713Z,1628818704.713 [Micromodem](INFO): Nmea in: $SNTTA,0.184557,,,,013824.97*48

2021-08-13T01:38:24.756Z,1628818704.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 91.436678 deg, deltaT: 4.459830 s, approachRate: -0.591951 m/s, LOS rate: -0.594857 deg/s, posRepo size: 4
2021-08-13T01:38:24.758Z,1628818704.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.340008 m,
      bearing: 91.436678 deg,
      approachRate: -0.591951 m/s,
      LOS rate: -0.594857 deg/s,
      cmd update: -1.784571 deg/s,
      cmd heading: 114.281029 deg,
      new cmd heading: 113.571125 deg.

2021-08-13T01:38:27.096Z,1628818707.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:27.473Z,1628818707.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:27.473Z,1628818707.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:27.473Z,1628818707.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:27.474Z,1628818707.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:27.893Z,1628818707.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,0064E,18A,80,80,37,FF
2021-08-13T01:38:27.893Z,1628818707.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:27.893Z,1628818707.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:27.895Z,1628818707.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:28.293Z,1628818708.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:28.694Z,1628818708.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,0061D,189,80,80,7D,FF
2021-08-13T01:38:28.695Z,1628818708.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:29.117Z,1628818709.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013829.42*59

2021-08-13T01:38:29.149Z,1628818709.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 86.529768 deg, deltaT: 4.429062 s, approachRate: -0.663798 m/s, LOS rate: -1.107889 deg/s, posRepo size: 4
2021-08-13T01:38:29.151Z,1628818709.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 86.529768 deg,
      approachRate: -0.663798 m/s,
      LOS rate: -1.107889 deg/s,
      cmd update: -3.323668 deg/s,
      cmd heading: 106.368468 deg,
      new cmd heading: 105.671547 deg.

2021-08-13T01:38:31.539Z,1628818711.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:31.944Z,1628818711.944 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:31.945Z,1628818711.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:31.946Z,1628818711.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:31.947Z,1628818711.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:32.329Z,1628818712.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,0061D,189,80,80,7D,FF
2021-08-13T01:38:32.329Z,1628818712.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:32.329Z,1628818712.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:32.331Z,1628818712.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:32.745Z,1628818712.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:33.134Z,1628818713.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,005E8,186,80,80,A8,FF
2021-08-13T01:38:33.134Z,1628818713.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:33.565Z,1628818713.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013833.86*5A

2021-08-13T01:38:33.630Z,1628818713.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 89.920677 deg, deltaT: 4.393318 s, approachRate: -0.723827 m/s, LOS rate: 0.771833 deg/s, posRepo size: 4
2021-08-13T01:38:33.637Z,1628818713.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.220001 m,
      bearing: 89.920677 deg,
      approachRate: -0.723827 m/s,
      LOS rate: 0.771833 deg/s,
      cmd update: 2.315500 deg/s,
      cmd heading: 91.753087 deg,
      new cmd heading: 90.174856 deg.

2021-08-13T01:38:36.077Z,1628818716.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:36.373Z,1628818716.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:36.373Z,1628818716.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:36.373Z,1628818716.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:36.374Z,1628818716.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:36.766Z,1628818716.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,005E8,186,80,80,A8,FF
2021-08-13T01:38:36.766Z,1628818716.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:36.766Z,1628818716.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:36.768Z,1628818716.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:37.185Z,1628818717.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:37.583Z,1628818717.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,005B5,186,80,80,64,FF
2021-08-13T01:38:37.584Z,1628818717.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:38.025Z,1628818718.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013838.30*5C

2021-08-13T01:38:38.089Z,1628818718.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 93.603282 deg, deltaT: 4.445724 s, approachRate: -0.688301 m/s, LOS rate: 0.828348 deg/s, posRepo size: 4
2021-08-13T01:38:38.091Z,1628818718.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.160004 m,
      bearing: 93.603282 deg,
      approachRate: -0.688301 m/s,
      LOS rate: 0.828348 deg/s,
      cmd update: 2.485044 deg/s,
      cmd heading: 102.046475 deg,
      new cmd heading: 103.177689 deg.

2021-08-13T01:38:40.455Z,1628818720.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:40.809Z,1628818720.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:40.809Z,1628818720.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:40.809Z,1628818720.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:40.810Z,1628818720.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:41.231Z,1628818721.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,005B5,186,80,80,64,FF
2021-08-13T01:38:41.231Z,1628818721.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:41.232Z,1628818721.232 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:41.233Z,1628818721.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:41.620Z,1628818721.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:42.030Z,1628818722.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,00580,185,80,80,67,FF
2021-08-13T01:38:42.031Z,1628818722.031 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:42.461Z,1628818722.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013842.76*53

2021-08-13T01:38:42.484Z,1628818722.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 90.691464 deg, deltaT: 4.510643 s, approachRate: -0.705001 m/s, LOS rate: -0.645544 deg/s, posRepo size: 4
2021-08-13T01:38:42.486Z,1628818722.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.979996 m,
      bearing: 90.691464 deg,
      approachRate: -0.705001 m/s,
      LOS rate: -0.645544 deg/s,
      cmd update: -1.936632 deg/s,
      cmd heading: 113.244816 deg,
      new cmd heading: 114.179928 deg.

2021-08-13T01:38:44.903Z,1628818724.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:45.246Z,1628818725.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:45.246Z,1628818725.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:45.246Z,1628818725.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:45.247Z,1628818725.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:45.653Z,1628818725.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,00580,185,80,80,67,FF
2021-08-13T01:38:45.653Z,1628818725.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:45.653Z,1628818725.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:45.655Z,1628818725.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:46.067Z,1628818726.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:46.465Z,1628818726.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F7,000,0054E,187,80,80,65,FF
2021-08-13T01:38:46.466Z,1628818726.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:46.910Z,1628818726.910 [Micromodem](INFO): Nmea in: $SNTTA,0.043085,,,,013847.18*4A

2021-08-13T01:38:46.963Z,1628818726.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 87.517878 deg, deltaT: 4.375878 s, approachRate: -0.685576 m/s, LOS rate: -0.725246 deg/s, posRepo size: 4
2021-08-13T01:38:46.977Z,1628818726.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.980000 m,
      bearing: 87.517878 deg,
      approachRate: -0.685576 m/s,
      LOS rate: -0.725246 deg/s,
      cmd update: -2.175737 deg/s,
      cmd heading: 104.761468 deg,
      new cmd heading: 103.840741 deg.

2021-08-13T01:38:49.361Z,1628818729.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:49.720Z,1628818729.720 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:49.720Z,1628818729.720 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:49.721Z,1628818729.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:49.721Z,1628818729.721 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:50.101Z,1628818730.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F7,000,0054E,187,80,80,65,FF
2021-08-13T01:38:50.101Z,1628818730.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:50.101Z,1628818730.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:50.103Z,1628818730.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:50.510Z,1628818730.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:50.925Z,1628818730.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,0051E,185,80,80,86,FF
2021-08-13T01:38:50.926Z,1628818730.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:51.354Z,1628818731.354 [Micromodem](INFO): Nmea in: $SNTTA,0.052051,,,,013851.63*48

2021-08-13T01:38:51.372Z,1628818731.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.099998 m, bearing: 89.169581 deg, deltaT: 4.502428 s, approachRate: -0.639655 m/s, LOS rate: 0.366847 deg/s, posRepo size: 4
2021-08-13T01:38:51.374Z,1628818731.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 89.169581 deg,
      approachRate: -0.639655 m/s,
      LOS rate: 0.366847 deg/s,
      cmd update: 1.100542 deg/s,
      cmd heading: 94.965148 deg,
      new cmd heading: 94.135111 deg.

2021-08-13T01:38:53.786Z,1628818733.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:54.137Z,1628818734.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:54.137Z,1628818734.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:54.137Z,1628818734.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:54.138Z,1628818734.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:54.545Z,1628818734.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,0051E,185,80,80,86,FF
2021-08-13T01:38:54.545Z,1628818734.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:54.545Z,1628818734.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:54.547Z,1628818734.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:54.956Z,1628818734.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:55.361Z,1628818735.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,103,000,004E5,186,80,80,74,FF
2021-08-13T01:38:55.362Z,1628818735.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:55.785Z,1628818735.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013856.07*50

2021-08-13T01:38:55.871Z,1628818735.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 85.853483 deg, deltaT: 4.412359 s, approachRate: -0.775095 m/s, LOS rate: -0.751548 deg/s, posRepo size: 4
2021-08-13T01:38:55.882Z,1628818735.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.68 m.
2021-08-13T01:38:55.888Z,1628818735.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.68 m.
2021-08-13T01:38:55.888Z,1628818735.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T01:38:55.890Z,1628818735.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.680000 m,
      bearing: 85.853483 deg,
      approachRate: -0.775095 m/s,
      LOS rate: -0.751548 deg/s,
      cmd update: -2.254643 deg/s,
      cmd heading: 99.816670 deg,
      new cmd heading: 100.336040 deg.

2021-08-13T01:38:56.212Z,1628818736.212 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T01:38:56.212Z,1628818736.212 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:38:56.213Z,1628818736.213 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T01:38:56.213Z,1628818736.213 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T01:38:56.213Z,1628818736.213 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T01:38:56.213Z,1628818736.213 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T01:38:56.585Z,1628818736.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T01:38:56.586Z,1628818736.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:38:56.586Z,1628818736.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T01:38:56.586Z,1628818736.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T01:38:58.219Z,1628818738.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:38:58.581Z,1628818738.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:38:58.581Z,1628818738.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:38:58.581Z,1628818738.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:38:58.582Z,1628818738.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:38:58.981Z,1628818738.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
103,000,004E5,186,80,80,74,FF
2021-08-13T01:38:58.981Z,1628818738.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:38:58.982Z,1628818738.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:38:58.983Z,1628818738.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:38:59.413Z,1628818739.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:38:59.794Z,1628818739.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13F,000,004B2,186,80,80,37,FF
2021-08-13T01:38:59.794Z,1628818739.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:38:59.865Z,1628818739.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:00.237Z,1628818740.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013900.51*51

2021-08-13T01:39:00.285Z,1628818740.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 83.220268 deg, deltaT: 4.459452 s, approachRate: -0.686182 m/s, LOS rate: -0.590480 deg/s, posRepo size: 4
2021-08-13T01:39:00.287Z,1628818740.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 83.220268 deg,
      approachRate: -0.686182 m/s,
      LOS rate: -0.590480 deg/s,
      cmd update: -1.771439 deg/s,
      cmd heading: 89.778285 deg,
      new cmd heading: 88.800791 deg.

2021-08-13T01:39:02.652Z,1628818742.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:03.029Z,1628818743.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:03.029Z,1628818743.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:03.029Z,1628818743.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:03.030Z,1628818743.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:03.437Z,1628818743.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13F,000,004B2,186,80,80,37,FF
2021-08-13T01:39:03.437Z,1628818743.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:03.437Z,1628818743.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:03.439Z,1628818743.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:03.836Z,1628818743.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:04.245Z,1628818744.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0047E,186,80,80,A4,FF
2021-08-13T01:39:04.246Z,1628818744.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:04.317Z,1628818744.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:04.678Z,1628818744.678 [Micromodem](INFO): Nmea in: $SNTTA,0.034349,,,,013904.97*48

2021-08-13T01:39:04.733Z,1628818744.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 86.356383 deg, deltaT: 4.452725 s, approachRate: -0.700695 m/s, LOS rate: 0.704314 deg/s, posRepo size: 4
2021-08-13T01:39:04.735Z,1628818744.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.500000 m,
      bearing: 86.356383 deg,
      approachRate: -0.700695 m/s,
      LOS rate: 0.704314 deg/s,
      cmd update: 2.112941 deg/s,
      cmd heading: 81.878633 deg,
      new cmd heading: 81.130291 deg.

2021-08-13T01:39:07.091Z,1628818747.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:07.473Z,1628818747.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:07.473Z,1628818747.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:07.473Z,1628818747.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:07.474Z,1628818747.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:07.877Z,1628818747.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0047E,186,80,80,A4,FF
2021-08-13T01:39:07.877Z,1628818747.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:07.878Z,1628818747.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:07.879Z,1628818747.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:08.288Z,1628818748.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:08.699Z,1628818748.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,0044A,183,80,80,6E,FF
2021-08-13T01:39:08.699Z,1628818748.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:08.708Z,1628818748.708 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:39:08.724Z,1628818748.724 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:09.117Z,1628818749.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013909.41*59

2021-08-13T01:39:09.161Z,1628818749.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 84.937050 deg, deltaT: 4.406631 s, approachRate: -0.708025 m/s, LOS rate: -0.322090 deg/s, posRepo size: 4
2021-08-13T01:39:09.163Z,1628818749.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 84.937050 deg,
      approachRate: -0.708025 m/s,
      LOS rate: -0.322090 deg/s,
      cmd update: -0.966271 deg/s,
      cmd heading: 91.197758 deg,
      new cmd heading: 92.082804 deg.

2021-08-13T01:39:11.527Z,1628818751.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:11.928Z,1628818751.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:11.928Z,1628818751.928 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:11.929Z,1628818751.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:11.931Z,1628818751.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:12.325Z,1628818752.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,0044A,183,80,80,6E,FF
2021-08-13T01:39:12.325Z,1628818752.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:12.325Z,1628818752.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:12.327Z,1628818752.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:12.757Z,1628818752.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:13.133Z,1628818753.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00413,186,80,80,72,FF
2021-08-13T01:39:13.135Z,1628818753.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:13.179Z,1628818753.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:13.565Z,1628818753.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013913.86*59

2021-08-13T01:39:13.596Z,1628818753.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 83.979935 deg, deltaT: 4.454672 s, approachRate: -0.740795 m/s, LOS rate: -0.214856 deg/s, posRepo size: 4
2021-08-13T01:39:13.598Z,1628818753.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 83.979935 deg,
      approachRate: -0.740795 m/s,
      LOS rate: -0.214856 deg/s,
      cmd update: -0.644569 deg/s,
      cmd heading: 86.912555 deg,
      new cmd heading: 86.486841 deg.

2021-08-13T01:39:16.072Z,1628818756.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:16.369Z,1628818756.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:16.369Z,1628818756.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:16.369Z,1628818756.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:16.370Z,1628818756.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:16.765Z,1628818756.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00413,186,80,80,72,FF
2021-08-13T01:39:16.765Z,1628818756.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:16.765Z,1628818756.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:16.767Z,1628818756.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:17.177Z,1628818757.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:17.577Z,1628818757.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,003E2,187,80,80,3E,FF
2021-08-13T01:39:17.577Z,1628818757.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:17.640Z,1628818757.640 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:18.029Z,1628818758.029 [Micromodem](INFO): Nmea in: $SNTTA,0.034360,,,,013918.29*4B

2021-08-13T01:39:18.090Z,1628818758.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 82.369185 deg, deltaT: 4.461604 s, approachRate: -0.658955 m/s, LOS rate: -0.361025 deg/s, posRepo size: 4
2021-08-13T01:39:18.092Z,1628818758.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.140001 m,
      bearing: 82.369185 deg,
      approachRate: -0.658955 m/s,
      LOS rate: -0.361025 deg/s,
      cmd update: -1.083075 deg/s,
      cmd heading: 84.030503 deg,
      new cmd heading: 83.731934 deg.

2021-08-13T01:39:20.416Z,1628818760.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:20.809Z,1628818760.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:20.809Z,1628818760.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:20.809Z,1628818760.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:20.810Z,1628818760.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:21.209Z,1628818761.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,003E2,187,80,80,3E,FF
2021-08-13T01:39:21.209Z,1628818761.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:21.210Z,1628818761.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:21.211Z,1628818761.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:21.612Z,1628818761.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:22.009Z,1628818762.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,003AC,184,80,80,5D,FF
2021-08-13T01:39:22.010Z,1628818762.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:22.088Z,1628818762.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:22.457Z,1628818762.457 [Micromodem](INFO): Nmea in: $SNTTA,0.044413,,,,013922.74*4E

2021-08-13T01:39:22.497Z,1628818762.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 81.631812 deg, deltaT: 4.447899 s, approachRate: -0.728435 m/s, LOS rate: -0.165780 deg/s, posRepo size: 4
2021-08-13T01:39:22.499Z,1628818762.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 81.631812 deg,
      approachRate: -0.728435 m/s,
      LOS rate: -0.165780 deg/s,
      cmd update: -0.497341 deg/s,
      cmd heading: 79.206355 deg,
      new cmd heading: 78.756310 deg.

2021-08-13T01:39:24.894Z,1628818764.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:25.245Z,1628818765.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:25.245Z,1628818765.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:25.245Z,1628818765.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:25.246Z,1628818765.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:25.656Z,1628818765.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,003AC,184,80,80,5D,FF
2021-08-13T01:39:25.656Z,1628818765.656 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:25.657Z,1628818765.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:25.662Z,1628818765.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:26.065Z,1628818766.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:26.457Z,1628818766.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00378,184,80,80,4A,FF
2021-08-13T01:39:26.457Z,1628818766.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:26.482Z,1628818766.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:26.889Z,1628818766.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013927.19*58

2021-08-13T01:39:26.939Z,1628818766.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 82.484411 deg, deltaT: 4.393477 s, approachRate: -0.710144 m/s, LOS rate: 0.194060 deg/s, posRepo size: 4
2021-08-13T01:39:26.945Z,1628818766.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 82.484411 deg,
      approachRate: -0.710144 m/s,
      LOS rate: 0.194060 deg/s,
      cmd update: 0.582180 deg/s,
      cmd heading: 77.019210 deg,
      new cmd heading: 76.790281 deg.

2021-08-13T01:39:29.315Z,1628818769.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:29.721Z,1628818769.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:29.721Z,1628818769.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:29.721Z,1628818769.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:29.722Z,1628818769.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:30.101Z,1628818770.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00378,184,80,80,4A,FF
2021-08-13T01:39:30.101Z,1628818770.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:30.101Z,1628818770.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:30.103Z,1628818770.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:30.500Z,1628818770.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:31.326Z,1628818771.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013931.63*52

2021-08-13T01:39:32.161Z,1628818772.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:33.745Z,1628818773.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,4A,FF
2021-08-13T01:39:33.745Z,1628818773.745 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,4A,FF
2021-08-13T01:39:33.745Z,1628818773.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:39:33.779Z,1628818773.779 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:39:34.986Z,1628818774.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:35.349Z,1628818775.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:35.349Z,1628818775.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:35.349Z,1628818775.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:35.350Z,1628818775.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:35.761Z,1628818775.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,4A,FF
2021-08-13T01:39:35.761Z,1628818775.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:35.761Z,1628818775.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:35.763Z,1628818775.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:36.175Z,1628818776.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:36.581Z,1628818776.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00300,183,80,80,94,FF
2021-08-13T01:39:36.581Z,1628818776.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:36.623Z,1628818776.623 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:37.005Z,1628818777.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013937.29*5A

2021-08-13T01:39:37.043Z,1628818777.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 82.244200 deg, deltaT: 10.141305 s, approachRate: -0.709968 m/s, LOS rate: -0.023686 deg/s, posRepo size: 4
2021-08-13T01:39:37.045Z,1628818777.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 82.244200 deg,
      approachRate: -0.709968 m/s,
      LOS rate: -0.023686 deg/s,
      cmd update: -0.071059 deg/s,
      cmd heading: 82.923296 deg,
      new cmd heading: 83.169701 deg.

2021-08-13T01:39:39.411Z,1628818779.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:39.809Z,1628818779.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:39.809Z,1628818779.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:39.809Z,1628818779.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:39.810Z,1628818779.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:40.209Z,1628818780.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00300,183,80,80,94,FF
2021-08-13T01:39:40.209Z,1628818780.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:40.209Z,1628818780.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:40.211Z,1628818780.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:40.629Z,1628818780.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:41.438Z,1628818781.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013941.74*53

2021-08-13T01:39:41.965Z,1628818781.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:43.856Z,1628818783.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:43.857Z,1628818783.857 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:43.857Z,1628818783.857 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:39:44.733Z,1628818784.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:45.053Z,1628818785.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:45.053Z,1628818785.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:45.053Z,1628818785.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:45.054Z,1628818785.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:45.466Z,1628818785.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:45.466Z,1628818785.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:45.466Z,1628818785.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:45.469Z,1628818785.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:45.863Z,1628818785.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:46.698Z,1628818786.698 [Micromodem](INFO): Nmea in: $SNTTA,,0.127489,,,013947.00*49

2021-08-13T01:39:47.515Z,1628818787.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:48.785Z,1628818788.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:48.786Z,1628818788.786 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:48.786Z,1628818788.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:39:50.395Z,1628818790.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:50.745Z,1628818790.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:50.745Z,1628818790.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:50.745Z,1628818790.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:50.746Z,1628818790.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:51.117Z,1628818791.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,183,80,80,94,FF
2021-08-13T01:39:51.117Z,1628818791.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:51.118Z,1628818791.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:51.120Z,1628818791.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:51.535Z,1628818791.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:51.961Z,1628818791.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,002B4,185,80,80,6D,FF
2021-08-13T01:39:51.963Z,1628818791.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:52.066Z,1628818792.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:52.393Z,1628818792.393 [Micromodem](INFO): Nmea in: $SNTTA,0.005906,,,,013952.65*45

2021-08-13T01:39:52.413Z,1628818792.413 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T01:39:52.413Z,1628818792.413 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:39:52.414Z,1628818792.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T01:39:52.414Z,1628818792.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:39:52.414Z,1628818792.414 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T01:39:52.415Z,1628818792.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-08-13T01:39:52.415Z,1628818792.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T01:39:52.415Z,1628818792.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T01:39:52.415Z,1628818792.415 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T01:39:52.418Z,1628818792.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 80.278478 deg, deltaT: 15.443057 s, approachRate: -0.295278 m/s, LOS rate: -0.127288 deg/s, posRepo size: 4
2021-08-13T01:39:52.440Z,1628818792.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 80.278478 deg,
      approachRate: -0.295278 m/s,
      LOS rate: -0.127288 deg/s,
      cmd update: -0.381865 deg/s,
      cmd heading: 81.826781 deg,
      new cmd heading: 81.800721 deg.

2021-08-13T01:39:52.832Z,1628818792.832 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T013952: (41.552319, -70.708603)
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T01:39:52.833Z,1628818792.833 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:39:53.209Z,1628818793.209 [UniversalFixResidualReporter](INFO): Fix residual: 1.9 %DT, over the last 594.8 m. Residual distance 11.4 m at bearing 99.3 degrees. Fix at (41.5540, -70.7048) with 0.0 m made good.
2021-08-13T01:39:54.867Z,1628818794.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:55.208Z,1628818795.208 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:55.208Z,1628818795.208 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:55.208Z,1628818795.208 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:55.209Z,1628818795.209 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:39:55.626Z,1628818795.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,002B4,185,80,80,6D,FF
2021-08-13T01:39:55.626Z,1628818795.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:39:55.626Z,1628818795.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:39:55.628Z,1628818795.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:39:56.022Z,1628818796.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:39:56.419Z,1628818796.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,002B3,186,80,80,8A,FF
2021-08-13T01:39:56.419Z,1628818796.419 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:39:56.439Z,1628818796.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:39:56.854Z,1628818796.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,013957.15*53

2021-08-13T01:39:56.910Z,1628818796.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 102.060894 deg, deltaT: 4.372851 s, approachRate: -0.013721 m/s, LOS rate: 4.981285 deg/s, posRepo size: 4
2021-08-13T01:39:56.912Z,1628818796.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 102.060894 deg,
      approachRate: -0.013721 m/s,
      LOS rate: 4.981285 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 80.152353 deg,
      new cmd heading: 79.971324 deg.

2021-08-13T01:39:59.265Z,1628818799.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:39:59.653Z,1628818799.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:39:59.653Z,1628818799.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:39:59.654Z,1628818799.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:39:59.655Z,1628818799.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:00.053Z,1628818800.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,002B3,186,80,80,8A,FF
2021-08-13T01:40:00.053Z,1628818800.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:00.053Z,1628818800.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:00.055Z,1628818800.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:00.473Z,1628818800.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:00.508Z,1628818800.508 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T01:40:00.870Z,1628818800.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,002B3,187,80,80,82,FF
2021-08-13T01:40:00.871Z,1628818800.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:00.903Z,1628818800.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:40:01.297Z,1628818801.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014001.58*57

2021-08-13T01:40:01.319Z,1628818801.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 121.142667 deg, deltaT: 4.464087 s, approachRate: 0.000000 m/s, LOS rate: 4.274507 deg/s, posRepo size: 4
2021-08-13T01:40:01.322Z,1628818801.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 121.142667 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.274507 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 133.696427 deg,
      new cmd heading: 138.756095 deg.

2021-08-13T01:40:03.715Z,1628818803.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:04.093Z,1628818804.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:04.093Z,1628818804.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:04.093Z,1628818804.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:04.094Z,1628818804.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:04.501Z,1628818804.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,002B3,187,80,80,82,FF
2021-08-13T01:40:04.501Z,1628818804.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:04.501Z,1628818804.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:04.503Z,1628818804.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:04.908Z,1628818804.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:05.305Z,1628818805.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,002B2,185,80,80,94,FF
2021-08-13T01:40:05.305Z,1628818805.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:05.369Z,1628818805.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:40:05.754Z,1628818805.754 [Micromodem](INFO): Nmea in: $SNTTA,0.006160,,,,014006.03*41

2021-08-13T01:40:05.785Z,1628818805.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 104.085786 deg, deltaT: 4.465834 s, approachRate: -0.013435 m/s, LOS rate: -3.819417 deg/s, posRepo size: 4
2021-08-13T01:40:05.792Z,1628818805.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 104.085786 deg,
      approachRate: -0.013435 m/s,
      LOS rate: -3.819417 deg/s,
      cmd update: -11.458250 deg/s,
      cmd heading: 186.917796 deg,
      new cmd heading: 192.333288 deg.

2021-08-13T01:40:08.186Z,1628818808.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:08.552Z,1628818808.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:08.553Z,1628818808.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:08.553Z,1628818808.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:08.555Z,1628818808.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:08.945Z,1628818808.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,002B2,185,80,80,94,FF
2021-08-13T01:40:08.945Z,1628818808.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:08.945Z,1628818808.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:08.947Z,1628818808.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:09.344Z,1628818809.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:09.750Z,1628818809.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,002B2,186,80,80,66,FF
2021-08-13T01:40:09.750Z,1628818809.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:09.780Z,1628818809.780 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T01:40:10.185Z,1628818810.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014010.47*59

2021-08-13T01:40:10.252Z,1628818810.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.899999 m, bearing: 112.389916 deg, deltaT: 4.411458 s, approachRate: 0.000000 m/s, LOS rate: 1.882400 deg/s, posRepo size: 4
2021-08-13T01:40:10.253Z,1628818810.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.90 m.
2021-08-13T01:40:10.253Z,1628818810.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.90 m. Cable present.
2021-08-13T01:40:10.253Z,1628818810.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T01:40:10.254Z,1628818810.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T01:40:10.254Z,1628818810.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T01:40:10.550Z,1628818810.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T01:40:10.550Z,1628818810.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T01:40:10.550Z,1628818810.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T01:40:10.991Z,1628818810.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T01:40:10.993Z,1628818810.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T01:40:11.381Z,1628818811.381 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T01:40:11.382Z,1628818811.382 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T01:40:11.382Z,1628818811.382 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T01:40:11.382Z,1628818811.382 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T01:40:11.382Z,1628818811.382 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T01:40:11.382Z,1628818811.382 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T01:40:11.383Z,1628818811.383 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T01:40:11.384Z,1628818811.384 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T01:40:11.384Z,1628818811.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T01:40:11.384Z,1628818811.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T01:40:11.384Z,1628818811.384 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T01:40:11.384Z,1628818811.384 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T01:40:11.765Z,1628818811.765 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T01:40:11.765Z,1628818811.765 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T01:40:12.186Z,1628818812.186 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T01:40:12.557Z,1628818812.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:12.950Z,1628818812.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:12.951Z,1628818812.951 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:12.951Z,1628818812.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:12.952Z,1628818812.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:13.349Z,1628818813.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,002B2,186,80,80,66,FF
2021-08-13T01:40:13.349Z,1628818813.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:13.350Z,1628818813.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:13.351Z,1628818813.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:13.761Z,1628818813.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:14.161Z,1628818814.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002B2,187,80,80,60,FF
2021-08-13T01:40:14.161Z,1628818814.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:14.581Z,1628818814.581 [Micromodem](INFO): Nmea in: $SNTTA,0.034008,,,,014014.88*4F

2021-08-13T01:40:15.009Z,1628818815.009 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T01:40:15.009Z,1628818815.009 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T01:40:15.009Z,1628818815.009 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T01:40:15.009Z,1628818815.009 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T01:40:15.416Z,1628818815.416 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T01:40:15.416Z,1628818815.416 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T01:40:15.418Z,1628818815.418 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T01:40:15.418Z,1628818815.418 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T01:40:15.418Z,1628818815.418 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T01:40:15.418Z,1628818815.418 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T01:40:15.419Z,1628818815.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T01:40:15.420Z,1628818815.420 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T01:40:15.420Z,1628818815.420 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T01:40:15.420Z,1628818815.420 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T01:40:15.420Z,1628818815.420 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T01:40:15.820Z,1628818815.820 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T01:40:15.820Z,1628818815.820 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T01:40:15.820Z,1628818815.820 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T01:40:15.821Z,1628818815.821 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T01:40:16.394Z,1628818816.394 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T01:40:16.408Z,1628818816.408 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T01:40:16.408Z,1628818816.408 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T01:40:16.621Z,1628818816.621 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T01:40:16.622Z,1628818816.622 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T01:40:16.622Z,1628818816.622 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T01:40:16.622Z,1628818816.622 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T01:40:16.622Z,1628818816.622 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T01:40:17.003Z,1628818817.003 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T01:40:17.003Z,1628818817.003 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T01:40:17.003Z,1628818817.003 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T01:40:17.003Z,1628818817.003 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T01:40:17.003Z,1628818817.003 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T01:40:17.012Z,1628818817.012 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T01:40:17.012Z,1628818817.012 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T01:40:17.013Z,1628818817.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:17.391Z,1628818817.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:17.391Z,1628818817.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:17.391Z,1628818817.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:17.392Z,1628818817.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:17.793Z,1628818817.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,002B2,187,80,80,60,FF
2021-08-13T01:40:17.793Z,1628818817.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:17.793Z,1628818817.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:17.795Z,1628818817.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:17.855Z,1628818817.855 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T01:40:18.307Z,1628818818.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:18.629Z,1628818818.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,002B2,183,80,80,48,FF
2021-08-13T01:40:18.630Z,1628818818.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:19.061Z,1628818819.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014019.32*52

2021-08-13T01:40:21.479Z,1628818821.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:21.869Z,1628818821.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:21.870Z,1628818821.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:21.870Z,1628818821.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:21.870Z,1628818821.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:22.269Z,1628818822.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,002B2,183,80,80,48,FF
2021-08-13T01:40:22.269Z,1628818822.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:22.269Z,1628818822.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:22.271Z,1628818822.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:22.681Z,1628818822.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:23.081Z,1628818823.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,002B2,186,80,80,4B,FF
2021-08-13T01:40:23.081Z,1628818823.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:23.513Z,1628818823.513 [Micromodem](INFO): Nmea in: $SNTTA,0.080243,,,,014023.80*41

2021-08-13T01:40:25.980Z,1628818825.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:26.309Z,1628818826.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:26.309Z,1628818826.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:26.309Z,1628818826.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:26.310Z,1628818826.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:26.319Z,1628818826.319 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:40:26.729Z,1628818826.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,002B2,186,80,80,4B,FF
2021-08-13T01:40:26.729Z,1628818826.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:26.729Z,1628818826.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:26.731Z,1628818826.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:27.129Z,1628818827.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:27.526Z,1628818827.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,002B3,186,80,80,67,FF
2021-08-13T01:40:27.526Z,1628818827.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:27.977Z,1628818827.977 [Micromodem](INFO): Nmea in: $SNTTA,0.019664,,,,014028.26*47

2021-08-13T01:40:30.351Z,1628818830.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:30.829Z,1628818830.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:30.829Z,1628818830.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:30.829Z,1628818830.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:30.830Z,1628818830.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:31.182Z,1628818831.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,002B3,186,80,80,67,FF
2021-08-13T01:40:31.182Z,1628818831.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:31.183Z,1628818831.183 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:31.185Z,1628818831.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:31.565Z,1628818831.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:31.729Z,1628818831.729 [CTD_Seabird](ERROR): Failed to parse device response: 1
2021-08-13T01:40:32.001Z,1628818832.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,002B4,186,80,80,70,FF
2021-08-13T01:40:32.001Z,1628818832.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:32.393Z,1628818832.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014032.71*5C

2021-08-13T01:40:34.826Z,1628818834.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:35.207Z,1628818835.207 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:35.207Z,1628818835.207 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:35.207Z,1628818835.207 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:35.208Z,1628818835.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:35.610Z,1628818835.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,002B4,186,80,80,70,FF
2021-08-13T01:40:35.610Z,1628818835.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:35.611Z,1628818835.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:35.615Z,1628818835.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:36.040Z,1628818836.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:36.409Z,1628818836.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,002B4,186,80,80,5B,FF
2021-08-13T01:40:36.409Z,1628818836.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:38.955Z,1628818838.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:39.206Z,1628818839.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:39.206Z,1628818839.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:39.206Z,1628818839.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:39.207Z,1628818839.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:39.657Z,1628818839.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,002B4,186,80,80,5B,FF
2021-08-13T01:40:39.657Z,1628818839.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:39.657Z,1628818839.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:39.659Z,1628818839.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:40.024Z,1628818840.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:40.421Z,1628818840.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,002B1,187,80,80,48,FF
2021-08-13T01:40:40.421Z,1628818840.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:40.965Z,1628818840.965 [Micromodem](INFO): Nmea in: $SNTTA,0.025505,,,,014041.19*4F

2021-08-13T01:40:43.294Z,1628818843.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:43.677Z,1628818843.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:43.677Z,1628818843.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:43.677Z,1628818843.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:43.678Z,1628818843.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:44.093Z,1628818844.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,002B1,187,80,80,48,FF
2021-08-13T01:40:44.093Z,1628818844.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:44.093Z,1628818844.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:44.095Z,1628818844.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:44.496Z,1628818844.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:44.901Z,1628818844.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,002B1,185,80,80,7E,FF
2021-08-13T01:40:44.901Z,1628818844.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:45.325Z,1628818845.325 [Micromodem](INFO): Nmea in: $SNTTA,0.038361,0.476791,,,014045.62*5B

2021-08-13T01:40:47.745Z,1628818847.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:48.140Z,1628818848.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:48.140Z,1628818848.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:48.140Z,1628818848.140 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:48.141Z,1628818848.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:48.533Z,1628818848.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,002B1,185,80,80,7E,FF
2021-08-13T01:40:48.533Z,1628818848.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:48.533Z,1628818848.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:48.535Z,1628818848.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:48.946Z,1628818848.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:49.306Z,1628818849.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,002B0,187,80,80,67,FF
2021-08-13T01:40:49.306Z,1628818849.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:49.777Z,1628818849.777 [Micromodem](INFO): Nmea in: $SNTTA,0.044600,,,,014050.06*40

2021-08-13T01:40:52.219Z,1628818852.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:52.580Z,1628818852.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:52.580Z,1628818852.580 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:52.581Z,1628818852.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:52.583Z,1628818852.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:52.978Z,1628818852.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,002B0,187,80,80,67,FF
2021-08-13T01:40:52.978Z,1628818852.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:52.978Z,1628818852.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:52.985Z,1628818852.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:53.381Z,1628818853.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:53.803Z,1628818853.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6F,000,002B3,186,80,80,59,FF
2021-08-13T01:40:53.804Z,1628818853.804 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:54.198Z,1628818854.198 [Micromodem](INFO): Nmea in: $SNTTA,0.016903,0.371298,,,014054.51*55

2021-08-13T01:40:56.651Z,1628818856.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:40:57.015Z,1628818857.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:40:57.015Z,1628818857.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:40:57.032Z,1628818857.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:40:57.033Z,1628818857.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:40:57.449Z,1628818857.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6F,000,002B3,186,80,80,59,FF
2021-08-13T01:40:57.449Z,1628818857.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:40:57.449Z,1628818857.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:40:57.451Z,1628818857.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:40:57.839Z,1628818857.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:40:58.229Z,1628818858.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,002B1,186,80,80,84,FF
2021-08-13T01:40:58.230Z,1628818858.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:40:58.682Z,1628818858.682 [Micromodem](INFO): Nmea in: $SNTTA,0.004504,,,,014058.98*4C

2021-08-13T01:41:01.173Z,1628818861.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:01.461Z,1628818861.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:01.461Z,1628818861.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:01.461Z,1628818861.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:01.462Z,1628818861.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:01.862Z,1628818861.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,002B1,186,80,80,84,FF
2021-08-13T01:41:01.862Z,1628818861.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:01.863Z,1628818861.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:01.865Z,1628818861.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:02.268Z,1628818862.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:02.673Z,1628818862.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,002D1,18A,80,80,2E,FF
2021-08-13T01:41:02.674Z,1628818862.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:03.105Z,1628818863.105 [Micromodem](INFO): Nmea in: $SNTTA,0.124610,,,,014103.39*4D

2021-08-13T01:41:05.531Z,1628818865.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:05.913Z,1628818865.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:05.913Z,1628818865.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:05.914Z,1628818865.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:05.915Z,1628818865.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:06.310Z,1628818866.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,002D1,18A,80,80,2E,FF
2021-08-13T01:41:06.310Z,1628818866.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:06.310Z,1628818866.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:06.312Z,1628818866.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:06.717Z,1628818866.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:07.117Z,1628818867.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,002B0,186,80,80,41,FF
2021-08-13T01:41:07.118Z,1628818867.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:07.557Z,1628818867.557 [Micromodem](INFO): Nmea in: $SNTTA,0.028867,,,,014107.84*4C

2021-08-13T01:41:10.062Z,1628818870.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:10.317Z,1628818870.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:10.317Z,1628818870.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:10.317Z,1628818870.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:10.318Z,1628818870.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:10.718Z,1628818870.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,002B0,186,80,80,41,FF
2021-08-13T01:41:10.718Z,1628818870.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:10.719Z,1628818870.719 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:10.721Z,1628818870.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:11.232Z,1628818871.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:11.565Z,1628818871.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,002B0,187,80,80,6A,FF
2021-08-13T01:41:11.566Z,1628818871.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:12.026Z,1628818872.026 [Micromodem](INFO): Nmea in: $SNTTA,0.078053,,,,014112.25*49

2021-08-13T01:41:14.403Z,1628818874.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:14.789Z,1628818874.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:14.789Z,1628818874.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:14.789Z,1628818874.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:14.790Z,1628818874.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:15.193Z,1628818875.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,002B0,187,80,80,6A,FF
2021-08-13T01:41:15.193Z,1628818875.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:15.193Z,1628818875.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:15.195Z,1628818875.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:15.621Z,1628818875.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:16.013Z,1628818876.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,002B0,186,80,80,5D,FF
2021-08-13T01:41:16.013Z,1628818876.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:16.041Z,1628818876.041 [Micromodem](INFO): Nmea in: $SNTTA,0.041051,0.267656,,,014116.72*5F

2021-08-13T01:41:18.882Z,1628818878.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:19.233Z,1628818879.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:19.233Z,1628818879.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:19.233Z,1628818879.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:19.234Z,1628818879.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:19.622Z,1628818879.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,002B0,186,80,80,5D,FF
2021-08-13T01:41:19.622Z,1628818879.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:19.622Z,1628818879.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:19.624Z,1628818879.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:20.051Z,1628818880.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:20.414Z,1628818880.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCA,000,002B1,189,80,80,66,FF
2021-08-13T01:41:20.415Z,1628818880.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:20.846Z,1628818880.846 [Micromodem](INFO): Nmea in: $SNTTA,0.039037,,,,014121.15*4D

2021-08-13T01:41:22.931Z,1628818882.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:23.273Z,1628818883.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:23.273Z,1628818883.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:23.273Z,1628818883.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:23.274Z,1628818883.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:23.681Z,1628818883.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCA,000,002B1,189,80,80,66,FF
2021-08-13T01:41:23.681Z,1628818883.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:23.681Z,1628818883.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:23.683Z,1628818883.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:24.085Z,1628818884.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:25.737Z,1628818885.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:26.919Z,1628818886.919 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:41:27.313Z,1628818887.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,66,FF
2021-08-13T01:41:27.313Z,1628818887.313 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,66,FF
2021-08-13T01:41:27.314Z,1628818887.314 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:41:28.538Z,1628818888.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:28.937Z,1628818888.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:28.937Z,1628818888.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:28.937Z,1628818888.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:28.938Z,1628818888.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:29.333Z,1628818889.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,66,FF
2021-08-13T01:41:29.333Z,1628818889.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:29.333Z,1628818889.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:29.335Z,1628818889.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:29.717Z,1628818889.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:30.141Z,1628818890.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2D,000,002B1,186,80,80,82,FF
2021-08-13T01:41:30.141Z,1628818890.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:30.145Z,1628818890.145 [Micromodem](INFO): Nmea in: $SNTTA,0.029836,0.196453,,,014130.86*5D

2021-08-13T01:41:32.991Z,1628818892.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:33.373Z,1628818893.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:33.373Z,1628818893.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:33.373Z,1628818893.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:33.374Z,1628818893.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:33.793Z,1628818893.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2D,000,002B1,186,80,80,82,FF
2021-08-13T01:41:33.793Z,1628818893.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:33.793Z,1628818893.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:33.795Z,1628818893.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:34.192Z,1628818894.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:34.593Z,1628818894.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,002B1,189,80,80,78,FF
2021-08-13T01:41:34.594Z,1628818894.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:35.022Z,1628818895.022 [Micromodem](INFO): Nmea in: $SNTTA,0.148805,,,,014135.33*42

2021-08-13T01:41:37.438Z,1628818897.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:37.817Z,1628818897.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:37.817Z,1628818897.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:37.817Z,1628818897.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:37.818Z,1628818897.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:38.221Z,1628818898.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,002B1,189,80,80,78,FF
2021-08-13T01:41:38.221Z,1628818898.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:38.221Z,1628818898.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:38.223Z,1628818898.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:38.661Z,1628818898.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:39.029Z,1628818899.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0A,000,002AF,189,80,80,69,FF
2021-08-13T01:41:39.029Z,1628818899.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:39.457Z,1628818899.457 [Micromodem](INFO): Nmea in: $SNTTA,0.035692,,,,014139.75*47

2021-08-13T01:41:41.965Z,1628818901.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:42.261Z,1628818902.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:42.261Z,1628818902.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:42.261Z,1628818902.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:42.262Z,1628818902.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:42.669Z,1628818902.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0A,000,002AF,189,80,80,69,FF
2021-08-13T01:41:42.669Z,1628818902.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:42.669Z,1628818902.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:42.671Z,1628818902.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:43.085Z,1628818903.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:43.481Z,1628818903.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,002B0,186,80,80,82,FF
2021-08-13T01:41:43.481Z,1628818903.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:43.917Z,1628818903.917 [Micromodem](INFO): Nmea in: $SNTTA,0.005691,,,,014144.20*4D

2021-08-13T01:41:46.025Z,1628818906.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:46.305Z,1628818906.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:46.305Z,1628818906.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:46.305Z,1628818906.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:46.306Z,1628818906.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:46.717Z,1628818906.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,002B0,186,80,80,82,FF
2021-08-13T01:41:46.717Z,1628818906.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:46.717Z,1628818906.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:46.719Z,1628818906.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:47.120Z,1628818907.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:47.533Z,1628818907.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,002B0,187,80,80,89,FF
2021-08-13T01:41:47.533Z,1628818907.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:47.973Z,1628818907.973 [Micromodem](INFO): Nmea in: $SNTTA,0.057002,,,,014148.25*4F

2021-08-13T01:41:50.359Z,1628818910.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:50.723Z,1628818910.723 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:50.723Z,1628818910.723 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:50.723Z,1628818910.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:50.724Z,1628818910.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:51.121Z,1628818911.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,002B0,187,80,80,89,FF
2021-08-13T01:41:51.121Z,1628818911.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:51.121Z,1628818911.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:51.123Z,1628818911.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:51.645Z,1628818911.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:52.009Z,1628818912.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,002AE,189,80,80,66,FF
2021-08-13T01:41:52.010Z,1628818912.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:52.017Z,1628818912.017 [Micromodem](INFO): Nmea in: $SNTTA,0.031382,0.340358,,,014152.65*5C

2021-08-13T01:41:54.838Z,1628818914.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:55.193Z,1628818915.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:55.193Z,1628818915.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:55.193Z,1628818915.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:55.194Z,1628818915.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:41:55.614Z,1628818915.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,002AE,189,80,80,66,FF
2021-08-13T01:41:55.614Z,1628818915.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:41:55.614Z,1628818915.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:41:55.621Z,1628818915.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:41:56.022Z,1628818916.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:41:56.406Z,1628818916.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,002AE,189,80,80,6B,FF
2021-08-13T01:41:56.407Z,1628818916.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:41:56.837Z,1628818916.837 [Micromodem](INFO): Nmea in: $SNTTA,0.004495,,,,014157.15*4E

2021-08-13T01:41:59.246Z,1628818919.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:41:59.658Z,1628818919.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:41:59.658Z,1628818919.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:41:59.659Z,1628818919.659 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:41:59.661Z,1628818919.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:00.010Z,1628818920.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,002AE,189,80,80,6B,FF
2021-08-13T01:42:00.011Z,1628818920.011 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:00.011Z,1628818920.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:00.013Z,1628818920.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:00.453Z,1628818920.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:00.831Z,1628818920.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,002AF,186,80,80,8C,FF
2021-08-13T01:42:00.831Z,1628818920.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:01.245Z,1628818921.245 [Micromodem](INFO): Nmea in: $SNTTA,0.029071,,,,014201.54*4A

2021-08-13T01:42:03.718Z,1628818923.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:04.085Z,1628818924.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:04.085Z,1628818924.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:04.085Z,1628818924.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:04.086Z,1628818924.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:04.525Z,1628818924.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,002AF,186,80,80,8C,FF
2021-08-13T01:42:04.525Z,1628818924.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:04.525Z,1628818924.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:04.527Z,1628818924.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:04.920Z,1628818924.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:05.321Z,1628818925.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,002AD,189,80,80,6E,FF
2021-08-13T01:42:05.321Z,1628818925.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:05.745Z,1628818925.745 [Micromodem](INFO): Nmea in: $SNTTA,0.029648,,,,014206.06*46

2021-08-13T01:42:08.186Z,1628818928.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:08.530Z,1628818928.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:08.530Z,1628818928.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:08.530Z,1628818928.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:08.531Z,1628818928.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:08.930Z,1628818928.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,002AD,189,80,80,6E,FF
2021-08-13T01:42:08.930Z,1628818928.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:08.930Z,1628818928.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:08.932Z,1628818928.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:09.337Z,1628818929.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:09.733Z,1628818929.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,002AE,189,80,80,7F,FF
2021-08-13T01:42:09.734Z,1628818929.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:10.127Z,1628818930.127 [Micromodem](INFO): Nmea in: $SNTTA,0.027678,0.391420,,,014210.46*5B

2021-08-13T01:42:12.629Z,1628818932.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:12.977Z,1628818932.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:12.977Z,1628818932.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:12.977Z,1628818932.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:12.978Z,1628818932.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:13.379Z,1628818933.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,002AE,189,80,80,7F,FF
2021-08-13T01:42:13.380Z,1628818933.380 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:13.380Z,1628818933.380 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:13.382Z,1628818933.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:13.790Z,1628818933.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:14.185Z,1628818934.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,002AD,189,80,80,6E,FF
2021-08-13T01:42:14.186Z,1628818934.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:14.630Z,1628818934.630 [Micromodem](INFO): Nmea in: $SNTTA,0.004397,,,,014214.91*43

2021-08-13T01:42:17.041Z,1628818937.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:17.413Z,1628818937.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:17.413Z,1628818937.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:17.413Z,1628818937.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:17.414Z,1628818937.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:17.884Z,1628818937.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,002AD,189,80,80,6E,FF
2021-08-13T01:42:17.884Z,1628818937.884 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:17.884Z,1628818937.884 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:17.886Z,1628818937.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:18.317Z,1628818938.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:18.673Z,1628818938.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,002AB,18A,80,80,55,FF
2021-08-13T01:42:18.673Z,1628818938.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:19.071Z,1628818939.071 [Micromodem](INFO): Nmea in: $SNTTA,0.350589,,,,014219.41*48

2021-08-13T01:42:21.445Z,1628818941.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:21.932Z,1628818941.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:21.932Z,1628818941.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:21.933Z,1628818941.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:21.934Z,1628818941.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:22.269Z,1628818942.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,002AB,18A,80,80,55,FF
2021-08-13T01:42:22.270Z,1628818942.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:22.270Z,1628818942.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:22.271Z,1628818942.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:22.673Z,1628818942.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:23.073Z,1628818943.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,002AC,186,80,80,78,FF
2021-08-13T01:42:23.073Z,1628818943.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:23.501Z,1628818943.501 [Micromodem](INFO): Nmea in: $SNTTA,0.022543,,,,014223.80*4C

2021-08-13T01:42:25.975Z,1628818945.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:26.309Z,1628818946.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:26.309Z,1628818946.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:26.309Z,1628818946.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:26.310Z,1628818946.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:26.713Z,1628818946.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,002AC,186,80,80,78,FF
2021-08-13T01:42:26.713Z,1628818946.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:26.713Z,1628818946.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:26.715Z,1628818946.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:27.113Z,1628818947.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:27.521Z,1628818947.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,002AC,189,80,80,81,FF
2021-08-13T01:42:27.522Z,1628818947.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:27.965Z,1628818947.965 [Micromodem](INFO): Nmea in: $SNTTA,0.025811,,,,014228.24*44

2021-08-13T01:42:30.050Z,1628818950.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:30.317Z,1628818950.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:30.317Z,1628818950.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:30.317Z,1628818950.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:30.318Z,1628818950.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:30.749Z,1628818950.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,002AC,189,80,80,81,FF
2021-08-13T01:42:30.749Z,1628818950.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:30.749Z,1628818950.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:30.751Z,1628818950.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:31.122Z,1628818951.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:31.618Z,1628818951.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,002AC,189,80,80,6F,FF
2021-08-13T01:42:31.619Z,1628818951.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:32.157Z,1628818952.157 [Micromodem](INFO): Nmea in: $SNTTA,0.056415,,,,014232.28*4F

2021-08-13T01:42:34.403Z,1628818954.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:34.797Z,1628818954.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:34.798Z,1628818954.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:34.798Z,1628818954.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:34.799Z,1628818954.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:35.193Z,1628818955.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,002AC,189,80,80,6F,FF
2021-08-13T01:42:35.194Z,1628818955.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:35.194Z,1628818955.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:35.195Z,1628818955.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:35.613Z,1628818955.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:36.015Z,1628818956.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,002AB,186,80,80,73,FF
2021-08-13T01:42:36.015Z,1628818956.015 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:36.018Z,1628818956.018 [Micromodem](INFO): Nmea in: $SNTTA,0.113400,0.265997,,,014236.72*58

2021-08-13T01:42:38.902Z,1628818958.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:39.233Z,1628818959.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:39.233Z,1628818959.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:39.233Z,1628818959.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:39.234Z,1628818959.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:39.653Z,1628818959.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,002AB,186,80,80,73,FF
2021-08-13T01:42:39.653Z,1628818959.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:39.653Z,1628818959.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:39.655Z,1628818959.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:40.041Z,1628818960.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:40.412Z,1628818960.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,002AC,186,80,80,7A,FF
2021-08-13T01:42:40.412Z,1628818960.412 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:40.870Z,1628818960.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014241.19*54

2021-08-13T01:42:43.303Z,1628818963.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:43.691Z,1628818963.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:43.691Z,1628818963.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:43.691Z,1628818963.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:43.693Z,1628818963.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:44.086Z,1628818964.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,002AC,186,80,80,7A,FF
2021-08-13T01:42:44.086Z,1628818964.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:44.086Z,1628818964.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:44.089Z,1628818964.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:44.497Z,1628818964.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:44.973Z,1628818964.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00ED6,186,80,80,7F,FF
2021-08-13T01:42:44.974Z,1628818964.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:45.349Z,1628818965.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014245.62*5C

2021-08-13T01:42:47.766Z,1628818967.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:48.125Z,1628818968.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:48.125Z,1628818968.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:48.125Z,1628818968.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:48.126Z,1628818968.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:48.534Z,1628818968.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00ED6,186,80,80,7F,FF
2021-08-13T01:42:48.534Z,1628818968.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:48.535Z,1628818968.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:48.536Z,1628818968.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:48.933Z,1628818968.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:49.340Z,1628818969.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D24,000,002AB,189,80,80,74,FF
2021-08-13T01:42:49.341Z,1628818969.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:49.757Z,1628818969.757 [Micromodem](INFO): Nmea in: $SNTTA,0.050520,,,,014250.06*46

2021-08-13T01:42:52.266Z,1628818972.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:52.566Z,1628818972.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:52.567Z,1628818972.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:52.567Z,1628818972.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:52.568Z,1628818972.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:52.965Z,1628818972.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D24,000,002AB,189,80,80,74,FF
2021-08-13T01:42:52.965Z,1628818972.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:52.965Z,1628818972.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:52.967Z,1628818972.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:53.375Z,1628818973.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:53.773Z,1628818973.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,002AA,189,80,80,71,FF
2021-08-13T01:42:53.774Z,1628818973.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:54.206Z,1628818974.206 [Micromodem](INFO): Nmea in: $SNTTA,0.005493,,,,014254.50*48

2021-08-13T01:42:56.787Z,1628818976.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:42:57.009Z,1628818977.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:42:57.009Z,1628818977.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:42:57.009Z,1628818977.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:42:57.010Z,1628818977.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:42:57.418Z,1628818977.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,002AA,189,80,80,71,FF
2021-08-13T01:42:57.418Z,1628818977.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:42:57.418Z,1628818977.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:42:57.422Z,1628818977.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:42:57.817Z,1628818977.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:42:58.290Z,1628818978.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,002A9,189,80,80,72,FF
2021-08-13T01:42:58.291Z,1628818978.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:42:58.701Z,1628818978.701 [Micromodem](INFO): Nmea in: $SNTTA,0.004258,,,,014258.95*4D

2021-08-13T01:42:59.800Z,1628818979.800 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-13T01:43:01.059Z,1628818981.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:01.425Z,1628818981.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:01.425Z,1628818981.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:01.425Z,1628818981.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:01.426Z,1628818981.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:01.829Z,1628818981.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,002A9,189,80,80,72,FF
2021-08-13T01:43:01.829Z,1628818981.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:01.829Z,1628818981.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:01.831Z,1628818981.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:02.335Z,1628818982.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:02.665Z,1628818982.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFC,000,002A8,188,80,80,6A,FF
2021-08-13T01:43:02.665Z,1628818982.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:03.085Z,1628818983.085 [Micromodem](INFO): Nmea in: $SNTTA,0.025808,,,,014303.36*47

2021-08-13T01:43:05.521Z,1628818985.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:05.911Z,1628818985.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:05.912Z,1628818985.912 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:05.913Z,1628818985.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:05.914Z,1628818985.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:06.301Z,1628818986.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFC,000,002A8,188,80,80,6A,FF
2021-08-13T01:43:06.301Z,1628818986.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:06.301Z,1628818986.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:06.303Z,1628818986.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:06.709Z,1628818986.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:07.109Z,1628818987.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,002A7,185,80,80,7D,FF
2021-08-13T01:43:07.110Z,1628818987.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:07.541Z,1628818987.541 [Micromodem](INFO): Nmea in: $SNTTA,0.093725,,,,014307.83*40

2021-08-13T01:43:10.019Z,1628818990.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:10.337Z,1628818990.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:10.337Z,1628818990.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:10.337Z,1628818990.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:10.338Z,1628818990.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:10.710Z,1628818990.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,002A7,185,80,80,7D,FF
2021-08-13T01:43:10.710Z,1628818990.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:10.710Z,1628818990.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:10.712Z,1628818990.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:11.145Z,1628818991.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:11.521Z,1628818991.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,002A7,18A,80,80,7C,FF
2021-08-13T01:43:11.522Z,1628818991.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:12.041Z,1628818992.041 [Micromodem](INFO): Nmea in: $SNTTA,0.029378,,,,014312.24*44

2021-08-13T01:43:14.427Z,1628818994.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:14.785Z,1628818994.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:14.785Z,1628818994.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:14.786Z,1628818994.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:14.786Z,1628818994.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:15.185Z,1628818995.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,002A7,18A,80,80,7C,FF
2021-08-13T01:43:15.185Z,1628818995.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:15.185Z,1628818995.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:15.187Z,1628818995.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:15.615Z,1628818995.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:16.009Z,1628818996.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,002A8,186,80,80,84,FF
2021-08-13T01:43:16.010Z,1628818996.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:16.013Z,1628818996.013 [Micromodem](INFO): Nmea in: $SNTTA,0.006011,0.272271,,,014316.71*5C

2021-08-13T01:43:18.893Z,1628818998.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:19.233Z,1628818999.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:19.233Z,1628818999.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:19.233Z,1628818999.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:19.234Z,1628818999.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:19.653Z,1628818999.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,002A8,186,80,80,84,FF
2021-08-13T01:43:19.653Z,1628818999.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:19.653Z,1628818999.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:19.655Z,1628818999.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:20.033Z,1628819000.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:20.446Z,1628819000.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,002A8,186,80,80,82,FF
2021-08-13T01:43:20.446Z,1628819000.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:20.826Z,1628819000.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014321.18*52

2021-08-13T01:43:23.278Z,1628819003.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:23.681Z,1628819003.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:23.681Z,1628819003.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:23.681Z,1628819003.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:23.682Z,1628819003.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:24.081Z,1628819004.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,002A8,186,80,80,82,FF
2021-08-13T01:43:24.081Z,1628819004.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:24.081Z,1628819004.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:24.083Z,1628819004.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:24.489Z,1628819004.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:24.901Z,1628819004.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,002A6,189,80,80,84,FF
2021-08-13T01:43:24.902Z,1628819004.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:25.385Z,1628819005.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014325.61*58

2021-08-13T01:43:27.769Z,1628819007.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:28.117Z,1628819008.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:28.117Z,1628819008.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:28.117Z,1628819008.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:28.118Z,1628819008.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:28.525Z,1628819008.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,002A6,189,80,80,84,FF
2021-08-13T01:43:28.525Z,1628819008.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:28.525Z,1628819008.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:28.527Z,1628819008.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:28.940Z,1628819008.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:29.325Z,1628819009.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,002A5,186,80,80,76,FF
2021-08-13T01:43:29.326Z,1628819009.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:29.765Z,1628819009.765 [Micromodem](INFO): Nmea in: $SNTTA,0.005345,,,,014330.06*44

2021-08-13T01:43:32.167Z,1628819012.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:32.633Z,1628819012.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:32.633Z,1628819012.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:32.633Z,1628819012.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:32.634Z,1628819012.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:32.961Z,1628819012.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,002A5,186,80,80,76,FF
2021-08-13T01:43:32.961Z,1628819012.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:32.961Z,1628819012.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:32.963Z,1628819012.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:33.369Z,1628819013.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:33.769Z,1628819013.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,002A7,187,80,80,7B,FF
2021-08-13T01:43:33.769Z,1628819013.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:34.193Z,1628819014.193 [Micromodem](INFO): Nmea in: $SNTTA,0.382902,0.382821,,,014334.49*52

2021-08-13T01:43:36.643Z,1628819016.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:37.001Z,1628819017.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:37.001Z,1628819017.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:37.001Z,1628819017.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:37.002Z,1628819017.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:37.401Z,1628819017.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,002A7,187,80,80,7B,FF
2021-08-13T01:43:37.401Z,1628819017.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:37.401Z,1628819017.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:37.403Z,1628819017.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:37.809Z,1628819017.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:38.214Z,1628819018.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7E,000,002A5,189,80,80,80,FF
2021-08-13T01:43:38.214Z,1628819018.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:38.217Z,1628819018.217 [Micromodem](INFO): Nmea in: $SNTTA,0.005980,0.203529,,,014338.93*52

2021-08-13T01:43:41.042Z,1628819021.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:41.449Z,1628819021.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:41.449Z,1628819021.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:41.449Z,1628819021.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:41.450Z,1628819021.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:41.825Z,1628819021.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7E,000,002A5,189,80,80,80,FF
2021-08-13T01:43:41.825Z,1628819021.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:41.825Z,1628819021.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:41.827Z,1628819021.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:42.231Z,1628819022.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:42.737Z,1628819022.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D71,000,002A6,18A,80,80,61,FF
2021-08-13T01:43:42.738Z,1628819022.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:43.085Z,1628819023.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014343.35*59

2021-08-13T01:43:45.513Z,1628819025.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:45.904Z,1628819025.904 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:45.904Z,1628819025.904 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:45.905Z,1628819025.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:45.906Z,1628819025.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:46.305Z,1628819026.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D71,000,002A6,18A,80,80,61,FF
2021-08-13T01:43:46.305Z,1628819026.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:46.305Z,1628819026.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:46.307Z,1628819026.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:46.700Z,1628819026.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:47.117Z,1628819027.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,002A6,189,80,80,7F,FF
2021-08-13T01:43:47.117Z,1628819027.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:47.529Z,1628819027.529 [Micromodem](INFO): Nmea in: $SNTTA,0.047229,,,,014347.84*43

2021-08-13T01:43:50.030Z,1628819030.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:50.342Z,1628819030.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:50.342Z,1628819030.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:50.342Z,1628819030.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:50.343Z,1628819030.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:50.741Z,1628819030.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,002A6,189,80,80,7F,FF
2021-08-13T01:43:50.741Z,1628819030.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:50.742Z,1628819030.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:50.743Z,1628819030.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:51.118Z,1628819031.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:51.545Z,1628819031.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,002A6,189,80,80,85,FF
2021-08-13T01:43:51.546Z,1628819031.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:52.053Z,1628819032.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014352.27*5A

2021-08-13T01:43:54.433Z,1628819034.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:54.793Z,1628819034.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:54.793Z,1628819034.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:54.793Z,1628819034.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:54.794Z,1628819034.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:55.193Z,1628819035.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,002A6,189,80,80,85,FF
2021-08-13T01:43:55.193Z,1628819035.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:55.194Z,1628819035.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:55.201Z,1628819035.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:43:55.614Z,1628819035.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:43:56.006Z,1628819036.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,002A6,189,80,80,7E,FF
2021-08-13T01:43:56.006Z,1628819036.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:43:56.417Z,1628819036.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014356.73*5F

2021-08-13T01:43:58.842Z,1628819038.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:43:59.229Z,1628819039.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:43:59.229Z,1628819039.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:43:59.230Z,1628819039.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:43:59.230Z,1628819039.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:43:59.661Z,1628819039.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,002A6,189,80,80,7E,FF
2021-08-13T01:43:59.661Z,1628819039.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:43:59.661Z,1628819039.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:43:59.663Z,1628819039.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:00.030Z,1628819040.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:00.437Z,1628819040.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,002A5,189,80,80,7E,FF
2021-08-13T01:44:00.437Z,1628819040.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:00.867Z,1628819040.867 [Micromodem](INFO): Nmea in: $SNTTA,0.005323,,,,014401.19*4F

2021-08-13T01:44:02.963Z,1628819042.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:03.265Z,1628819043.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:03.265Z,1628819043.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:03.265Z,1628819043.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:03.266Z,1628819043.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:03.681Z,1628819043.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,002A5,189,80,80,7E,FF
2021-08-13T01:44:03.681Z,1628819043.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:03.681Z,1628819043.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:03.683Z,1628819043.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:04.076Z,1628819044.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:04.481Z,1628819044.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,002A6,189,80,80,5F,FF
2021-08-13T01:44:04.481Z,1628819044.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:04.901Z,1628819044.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014405.21*59

2021-08-13T01:44:07.348Z,1628819047.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:07.717Z,1628819047.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:07.717Z,1628819047.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:07.717Z,1628819047.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:07.718Z,1628819047.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:08.130Z,1628819048.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,002A6,189,80,80,5F,FF
2021-08-13T01:44:08.130Z,1628819048.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:08.130Z,1628819048.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:08.132Z,1628819048.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:08.524Z,1628819048.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:08.953Z,1628819048.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,002A3,186,80,80,71,FF
2021-08-13T01:44:08.953Z,1628819048.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:09.357Z,1628819049.357 [Micromodem](INFO): Nmea in: $SNTTA,0.172794,,,,014409.66*46

2021-08-13T01:44:11.789Z,1628819051.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:12.122Z,1628819052.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:12.122Z,1628819052.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:12.122Z,1628819052.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:12.123Z,1628819052.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:12.529Z,1628819052.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,002A3,186,80,80,71,FF
2021-08-13T01:44:12.530Z,1628819052.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:12.530Z,1628819052.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:12.532Z,1628819052.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:13.037Z,1628819053.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:13.369Z,1628819053.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,002A4,185,80,80,43,FF
2021-08-13T01:44:13.369Z,1628819053.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:13.797Z,1628819053.797 [Micromodem](INFO): Nmea in: $SNTTA,0.007020,,,,014414.06*47

2021-08-13T01:44:14.202Z,1628819054.202 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T01:44:16.265Z,1628819056.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:16.614Z,1628819056.614 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:16.614Z,1628819056.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:16.614Z,1628819056.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:16.614Z,1628819056.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:17.001Z,1628819057.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,002A4,185,80,80,43,FF
2021-08-13T01:44:17.001Z,1628819057.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:17.001Z,1628819057.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:17.003Z,1628819057.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:17.409Z,1628819057.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:17.818Z,1628819057.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,002A4,189,80,80,7B,FF
2021-08-13T01:44:17.818Z,1628819057.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:18.245Z,1628819058.245 [Micromodem](INFO): Nmea in: $SNTTA,0.051450,,,,014418.53*4B

2021-08-13T01:44:20.349Z,1628819060.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:20.649Z,1628819060.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:20.649Z,1628819060.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:20.649Z,1628819060.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:20.650Z,1628819060.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:21.053Z,1628819061.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,002A4,189,80,80,7B,FF
2021-08-13T01:44:21.053Z,1628819061.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:21.053Z,1628819061.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:21.055Z,1628819061.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:21.432Z,1628819061.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:21.850Z,1628819061.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,002A4,187,80,80,91,FF
2021-08-13T01:44:21.850Z,1628819061.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:22.259Z,1628819062.259 [Micromodem](INFO): Nmea in: $SNTTA,0.039263,,,,014422.59*40

2021-08-13T01:44:24.290Z,1628819064.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:44:24.706Z,1628819064.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:25.081Z,1628819065.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:25.081Z,1628819065.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:25.081Z,1628819065.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:25.082Z,1628819065.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:25.485Z,1628819065.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,002A4,187,80,80,91,FF
2021-08-13T01:44:25.485Z,1628819065.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:25.486Z,1628819065.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:25.487Z,1628819065.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:25.910Z,1628819065.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:26.297Z,1628819066.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,002A4,189,80,80,76,FF
2021-08-13T01:44:26.298Z,1628819066.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:26.725Z,1628819066.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014427.01*5B

2021-08-13T01:44:29.138Z,1628819069.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:29.525Z,1628819069.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:29.525Z,1628819069.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:29.525Z,1628819069.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:29.526Z,1628819069.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:29.961Z,1628819069.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,002A4,189,80,80,76,FF
2021-08-13T01:44:29.962Z,1628819069.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:29.962Z,1628819069.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:29.968Z,1628819069.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:30.337Z,1628819070.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:30.741Z,1628819070.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,002A4,189,80,80,6E,FF
2021-08-13T01:44:30.742Z,1628819070.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:31.174Z,1628819071.174 [Micromodem](INFO): Nmea in: $SNTTA,0.038971,,,,014431.50*42

2021-08-13T01:44:33.704Z,1628819073.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:34.021Z,1628819074.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:34.021Z,1628819074.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:34.021Z,1628819074.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:34.022Z,1628819074.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:34.397Z,1628819074.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,002A4,189,80,80,6E,FF
2021-08-13T01:44:34.397Z,1628819074.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:34.397Z,1628819074.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:34.399Z,1628819074.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:34.793Z,1628819074.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:35.626Z,1628819075.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014435.93*53

2021-08-13T01:44:36.422Z,1628819076.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:37.618Z,1628819077.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,070B2,189,80,80,78,FF
2021-08-13T01:44:37.619Z,1628819077.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:40.447Z,1628819080.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:40.846Z,1628819080.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:40.846Z,1628819080.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:40.846Z,1628819080.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:40.847Z,1628819080.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:41.250Z,1628819081.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,070B2,189,80,80,78,FF
2021-08-13T01:44:41.251Z,1628819081.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:41.251Z,1628819081.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:41.253Z,1628819081.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:41.629Z,1628819081.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:42.049Z,1628819082.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BF,000,0029E,18A,80,80,34,FF
2021-08-13T01:44:42.050Z,1628819082.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:42.461Z,1628819082.461 [Micromodem](INFO): Nmea in: $SNTTA,0.206635,,,,014442.78*4C

2021-08-13T01:44:44.926Z,1628819084.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:45.281Z,1628819085.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:45.281Z,1628819085.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:45.281Z,1628819085.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:45.282Z,1628819085.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:45.761Z,1628819085.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BF,000,0029E,18A,80,80,34,FF
2021-08-13T01:44:45.761Z,1628819085.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:45.761Z,1628819085.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:45.763Z,1628819085.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:46.125Z,1628819086.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:46.513Z,1628819086.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA6,000,002A1,188,80,80,76,FF
2021-08-13T01:44:46.513Z,1628819086.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:47.017Z,1628819087.017 [Micromodem](INFO): Nmea in: $SNTTA,0.106764,,,,014447.29*4B

2021-08-13T01:44:49.334Z,1628819089.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:49.733Z,1628819089.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:49.734Z,1628819089.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:49.734Z,1628819089.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:49.735Z,1628819089.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:50.129Z,1628819090.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA6,000,002A1,188,80,80,76,FF
2021-08-13T01:44:50.129Z,1628819090.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:50.129Z,1628819090.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:50.131Z,1628819090.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:50.564Z,1628819090.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:50.937Z,1628819090.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,0029F,185,80,80,8F,FF
2021-08-13T01:44:50.937Z,1628819090.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:44:51.389Z,1628819091.389 [Micromodem](INFO): Nmea in: $SNTTA,0.089564,,,,014451.66*43

2021-08-13T01:44:52.986Z,1628819092.986 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T01:44:52.986Z,1628819092.986 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:44:52.987Z,1628819092.987 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T01:44:52.987Z,1628819092.987 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:44:52.988Z,1628819092.988 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T01:44:52.989Z,1628819092.989 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.759999 m 
2021-08-13T01:44:52.989Z,1628819092.989 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T01:44:52.989Z,1628819092.989 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T01:44:52.989Z,1628819092.989 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T01:44:53.463Z,1628819093.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T014453: (41.552319, -70.708603)
2021-08-13T01:44:53.463Z,1628819093.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T01:44:53.463Z,1628819093.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T01:44:53.464Z,1628819093.464 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T01:44:53.828Z,1628819093.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:54.177Z,1628819094.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:54.177Z,1628819094.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:54.178Z,1628819094.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:54.178Z,1628819094.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:44:54.586Z,1628819094.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,0029F,185,80,80,8F,FF
2021-08-13T01:44:54.587Z,1628819094.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:44:54.588Z,1628819094.588 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:44:54.595Z,1628819094.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:44:54.988Z,1628819094.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:44:55.795Z,1628819095.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014456.12*5F

2021-08-13T01:44:56.640Z,1628819096.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:58.213Z,1628819098.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,8F,FF
2021-08-13T01:44:58.213Z,1628819098.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,8F,FF
2021-08-13T01:44:58.213Z,1628819098.213 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:44:59.513Z,1628819099.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:44:59.837Z,1628819099.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:44:59.837Z,1628819099.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:44:59.837Z,1628819099.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:44:59.838Z,1628819099.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:00.314Z,1628819100.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,8F,FF
2021-08-13T01:45:00.314Z,1628819100.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:00.314Z,1628819100.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:00.343Z,1628819100.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:00.685Z,1628819100.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:01.049Z,1628819101.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E74,000,002A3,185,80,80,7D,FF
2021-08-13T01:45:01.050Z,1628819101.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:01.477Z,1628819101.477 [Micromodem](INFO): Nmea in: $SNTTA,0.130861,0.382598,,,014501.87*50

2021-08-13T01:45:03.614Z,1628819103.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:03.873Z,1628819103.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:03.873Z,1628819103.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:03.874Z,1628819103.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:03.875Z,1628819103.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:04.273Z,1628819104.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E74,000,002A3,185,80,80,7D,FF
2021-08-13T01:45:04.273Z,1628819104.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:04.273Z,1628819104.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:04.275Z,1628819104.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:04.685Z,1628819104.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:05.077Z,1628819105.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6E,000,002A0,189,80,80,74,FF
2021-08-13T01:45:05.077Z,1628819105.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:05.518Z,1628819105.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014505.80*53

2021-08-13T01:45:08.002Z,1628819108.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:08.313Z,1628819108.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:08.313Z,1628819108.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:08.313Z,1628819108.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:08.314Z,1628819108.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:08.721Z,1628819108.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6E,000,002A0,189,80,80,74,FF
2021-08-13T01:45:08.721Z,1628819108.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:08.721Z,1628819108.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:08.723Z,1628819108.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:09.124Z,1628819109.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:09.998Z,1628819109.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014510.25*58

2021-08-13T01:45:10.773Z,1628819110.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:12.354Z,1628819112.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,74,FF
2021-08-13T01:45:12.354Z,1628819112.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,74,FF
2021-08-13T01:45:12.354Z,1628819112.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:45:13.691Z,1628819113.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:14.099Z,1628819114.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:14.099Z,1628819114.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:14.100Z,1628819114.100 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:14.101Z,1628819114.101 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:14.393Z,1628819114.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,74,FF
2021-08-13T01:45:14.393Z,1628819114.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:14.393Z,1628819114.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:14.395Z,1628819114.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:14.789Z,1628819114.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:15.189Z,1628819115.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,002A1,189,80,80,69,FF
2021-08-13T01:45:15.189Z,1628819115.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:15.615Z,1628819115.615 [Micromodem](INFO): Nmea in: $SNTTA,0.021015,,,,014515.92*48

2021-08-13T01:45:17.240Z,1628819117.240 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T01:40:17.0Z
2021-08-13T01:45:17.241Z,1628819117.241 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T01:45:17.241Z,1628819117.241 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T01:45:17.241Z,1628819117.241 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T01:45:17.241Z,1628819117.241 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T01:45:17.631Z,1628819117.631 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.880000 m .
2021-08-13T01:45:17.631Z,1628819117.631 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T01:45:17.631Z,1628819117.631 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T01:45:17.632Z,1628819117.632 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T01:45:17.632Z,1628819117.632 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T01:45:18.046Z,1628819118.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:18.385Z,1628819118.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:18.385Z,1628819118.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:18.385Z,1628819118.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:18.386Z,1628819118.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:18.396Z,1628819118.396 [PowerOnly](INFO): Powering up loadControl
2021-08-13T01:45:18.782Z,1628819118.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,002A1,189,80,80,69,FF
2021-08-13T01:45:18.782Z,1628819118.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:18.782Z,1628819118.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:18.784Z,1628819118.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:19.299Z,1628819119.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:19.653Z,1628819119.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D95,000,002A1,18A,80,80,70,FF
2021-08-13T01:45:19.654Z,1628819119.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:20.053Z,1628819120.053 [Micromodem](INFO): Nmea in: $SNTTA,0.071785,,,,014520.31*4C

2021-08-13T01:45:21.297Z,1628819121.297 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T01:45:21.691Z,1628819121.691 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T01:45:22.468Z,1628819122.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:22.854Z,1628819122.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:22.854Z,1628819122.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:22.854Z,1628819122.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:22.855Z,1628819122.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:23.269Z,1628819123.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D95,000,002A1,18A,80,80,70,FF
2021-08-13T01:45:23.270Z,1628819123.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:23.270Z,1628819123.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:23.271Z,1628819123.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:23.669Z,1628819123.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:24.493Z,1628819124.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,01AA1,186,80,80,69,FF
2021-08-13T01:45:24.494Z,1628819124.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:24.497Z,1628819124.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014524.80*50

2021-08-13T01:45:24.924Z,1628819124.924 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T01:45:25.321Z,1628819125.321 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T01:45:27.035Z,1628819127.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:27.325Z,1628819127.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:27.325Z,1628819127.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:27.325Z,1628819127.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:27.326Z,1628819127.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:27.733Z,1628819127.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,01AA1,186,80,80,69,FF
2021-08-13T01:45:27.733Z,1628819127.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:27.733Z,1628819127.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:27.735Z,1628819127.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:28.124Z,1628819128.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:28.510Z,1628819128.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,002A1,188,80,80,53,FF
2021-08-13T01:45:28.510Z,1628819128.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:28.935Z,1628819128.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014529.26*51

2021-08-13T01:45:31.384Z,1628819131.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:31.745Z,1628819131.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:31.745Z,1628819131.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:31.745Z,1628819131.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:31.746Z,1628819131.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:32.158Z,1628819132.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,002A1,188,80,80,53,FF
2021-08-13T01:45:32.158Z,1628819132.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:32.158Z,1628819132.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:32.160Z,1628819132.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:32.559Z,1628819132.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:32.965Z,1628819132.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,002A5,186,80,80,8F,FF
2021-08-13T01:45:32.965Z,1628819132.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:33.393Z,1628819133.393 [Micromodem](INFO): Nmea in: $SNTTA,0.034588,,,,014533.69*4D

2021-08-13T01:45:35.825Z,1628819135.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:36.193Z,1628819136.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:36.193Z,1628819136.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:36.193Z,1628819136.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:36.194Z,1628819136.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:36.605Z,1628819136.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,002A5,186,80,80,8F,FF
2021-08-13T01:45:36.605Z,1628819136.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:36.606Z,1628819136.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:36.613Z,1628819136.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:37.005Z,1628819137.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:37.405Z,1628819137.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A5,000,002A5,185,80,80,7B,FF
2021-08-13T01:45:37.406Z,1628819137.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:37.842Z,1628819137.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014538.14*50

2021-08-13T01:45:39.940Z,1628819139.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:40.309Z,1628819140.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:40.309Z,1628819140.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:40.309Z,1628819140.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:40.310Z,1628819140.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:40.683Z,1628819140.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A5,000,002A5,185,80,80,7B,FF
2021-08-13T01:45:40.683Z,1628819140.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:40.683Z,1628819140.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:40.685Z,1628819140.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:41.056Z,1628819141.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:41.453Z,1628819141.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,002A7,189,80,80,75,FF
2021-08-13T01:45:41.453Z,1628819141.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:41.875Z,1628819141.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014542.21*5B

2021-08-13T01:45:43.994Z,1628819143.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:44.277Z,1628819144.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:44.277Z,1628819144.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:44.277Z,1628819144.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:44.278Z,1628819144.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:44.681Z,1628819144.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,002A7,189,80,80,75,FF
2021-08-13T01:45:44.681Z,1628819144.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:44.682Z,1628819144.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:44.683Z,1628819144.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:45.104Z,1628819145.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:45.481Z,1628819145.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002A9,187,80,80,A6,FF
2021-08-13T01:45:45.482Z,1628819145.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:45.944Z,1628819145.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014546.21*5F

2021-08-13T01:45:48.007Z,1628819148.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:48.322Z,1628819148.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:48.322Z,1628819148.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:48.322Z,1628819148.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:48.323Z,1628819148.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:48.725Z,1628819148.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002A9,187,80,80,A6,FF
2021-08-13T01:45:48.725Z,1628819148.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:48.725Z,1628819148.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:48.727Z,1628819148.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:49.141Z,1628819149.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:49.521Z,1628819149.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,002AB,189,80,80,8E,FF
2021-08-13T01:45:49.522Z,1628819149.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:49.985Z,1628819149.985 [Micromodem](INFO): Nmea in: $SNTTA,0.021097,,,,014550.25*4F

2021-08-13T01:45:52.068Z,1628819152.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:52.349Z,1628819152.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:52.349Z,1628819152.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:52.350Z,1628819152.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:52.350Z,1628819152.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:52.757Z,1628819152.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,002AB,189,80,80,8E,FF
2021-08-13T01:45:52.757Z,1628819152.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:52.757Z,1628819152.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:52.759Z,1628819152.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:53.249Z,1628819153.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:53.677Z,1628819153.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,002AD,187,80,80,86,FF
2021-08-13T01:45:53.678Z,1628819153.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:54.081Z,1628819154.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014554.28*55

2021-08-13T01:45:56.440Z,1628819156.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:45:56.793Z,1628819156.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:45:56.793Z,1628819156.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:45:56.793Z,1628819156.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:45:56.794Z,1628819156.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:45:57.197Z,1628819157.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,002AD,187,80,80,86,FF
2021-08-13T01:45:57.197Z,1628819157.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:45:57.197Z,1628819157.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:45:57.199Z,1628819157.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:45:57.621Z,1628819157.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:45:58.009Z,1628819158.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC7,000,002B0,189,80,80,76,FF
2021-08-13T01:45:58.009Z,1628819158.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:45:58.442Z,1628819158.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014558.73*57

2021-08-13T01:46:00.871Z,1628819160.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:01.256Z,1628819161.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:01.257Z,1628819161.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:01.257Z,1628819161.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:01.258Z,1628819161.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:01.657Z,1628819161.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC7,000,002B0,189,80,80,76,FF
2021-08-13T01:46:01.657Z,1628819161.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:01.657Z,1628819161.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:01.659Z,1628819161.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:02.048Z,1628819162.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:02.459Z,1628819162.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,002B2,186,80,80,8C,FF
2021-08-13T01:46:02.459Z,1628819162.459 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:02.882Z,1628819162.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014603.19*56

2021-08-13T01:46:05.303Z,1628819165.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:05.681Z,1628819165.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:05.681Z,1628819165.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:05.682Z,1628819165.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:05.683Z,1628819165.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:06.089Z,1628819166.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,002B2,186,80,80,8C,FF
2021-08-13T01:46:06.090Z,1628819166.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:06.090Z,1628819166.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:06.091Z,1628819166.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:06.733Z,1628819166.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E54,000,002B3,187,80,80,76,FF
2021-08-13T01:46:06.734Z,1628819166.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:06.739Z,1628819166.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:07.453Z,1628819167.453 [Micromodem](INFO): Nmea in: $SNTTA,0.020428,,,,014607.62*4C

2021-08-13T01:46:09.473Z,1628819169.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:09.841Z,1628819169.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:09.842Z,1628819169.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:09.842Z,1628819169.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:09.843Z,1628819169.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:10.246Z,1628819170.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E54,000,002B3,187,80,80,76,FF
2021-08-13T01:46:10.247Z,1628819170.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:10.247Z,1628819170.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:10.250Z,1628819170.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:10.668Z,1628819170.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:11.046Z,1628819171.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,002B8,185,80,80,88,FF
2021-08-13T01:46:11.047Z,1628819171.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:11.489Z,1628819171.489 [Micromodem](INFO): Nmea in: $SNTTA,0.035566,,,,014611.78*4F

2021-08-13T01:46:13.976Z,1628819173.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:14.281Z,1628819174.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:14.281Z,1628819174.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:14.281Z,1628819174.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:14.282Z,1628819174.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:14.681Z,1628819174.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,002B8,185,80,80,88,FF
2021-08-13T01:46:14.682Z,1628819174.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:14.682Z,1628819174.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:14.683Z,1628819174.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:15.089Z,1628819175.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:15.493Z,1628819175.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,002BA,18A,80,80,62,FF
2021-08-13T01:46:15.493Z,1628819175.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:15.972Z,1628819175.972 [Micromodem](INFO): Nmea in: $SNTTA,0.037806,,,,014616.21*4D

2021-08-13T01:46:16.034Z,1628819176.034 [lineCaptureDepth](INFO): Timed out from 2021-08-12T23:46:15.9Z
2021-08-13T01:46:16.034Z,1628819176.034 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-13T01:46:16.034Z,1628819176.034 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-13T01:46:16.034Z,1628819176.034 [lineCaptureDepth] Stopped
2021-08-13T01:46:16.034Z,1628819176.034 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-13T01:46:16.034Z,1628819176.034 [lineCaptureDepth:Science] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:B] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:C] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T01:46:16.035Z,1628819176.035 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:TrackAC.] Stopped
2021-08-13T01:46:16.052Z,1628819176.052 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap] Stopped
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T01:46:16.053Z,1628819176.053 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T01:46:16.305Z,1628819176.305 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T01:46:16.305Z,1628819176.305 [DefaultWithUndock] Running Loop=1
2021-08-13T01:46:16.305Z,1628819176.305 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T01:46:16.306Z,1628819176.306 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T01:46:16.306Z,1628819176.306 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T01:46:16.444Z,1628819176.444 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T01:46:46.618Z,1628819206.618 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T01:46:46.618Z,1628819206.618 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T01:46:46.618Z,1628819206.618 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T01:46:46.619Z,1628819206.619 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T01:46:47.975Z,1628819207.975 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T01:46:48.279Z,1628819208.279 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T01:46:49.445Z,1628819209.445 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:49.857Z,1628819209.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:49.857Z,1628819209.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:49.857Z,1628819209.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:49.858Z,1628819209.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:49.881Z,1628819209.881 [PowerOnly](INFO): Powering down loadControl
2021-08-13T01:46:50.241Z,1628819210.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,002BA,18A,80,80,62,FF
2021-08-13T01:46:50.241Z,1628819210.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:50.241Z,1628819210.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:50.243Z,1628819210.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:50.671Z,1628819210.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:51.041Z,1628819211.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,002CA,186,80,80,9B,FF
2021-08-13T01:46:51.041Z,1628819211.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:51.481Z,1628819211.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014651.77*59

2021-08-13T01:46:53.941Z,1628819213.941 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:54.273Z,1628819214.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:54.273Z,1628819214.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:54.273Z,1628819214.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:54.274Z,1628819214.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:54.686Z,1628819214.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,002CA,186,80,80,9B,FF
2021-08-13T01:46:54.686Z,1628819214.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:54.686Z,1628819214.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:54.687Z,1628819214.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:55.084Z,1628819215.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:55.485Z,1628819215.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,002CE,187,80,80,B3,FF
2021-08-13T01:46:55.486Z,1628819215.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:46:55.933Z,1628819215.933 [Micromodem](INFO): Nmea in: $SNTTA,0.025861,,,,014656.22*48

2021-08-13T01:46:58.344Z,1628819218.344 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-13T01:46:58.345Z,1628819218.345 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:46:58.798Z,1628819218.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:46:58.798Z,1628819218.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:46:58.799Z,1628819218.799 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:46:58.799Z,1628819218.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:46:59.121Z,1628819219.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,002CE,187,80,80,B3,FF
2021-08-13T01:46:59.121Z,1628819219.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:46:59.122Z,1628819219.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:46:59.123Z,1628819219.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:46:59.524Z,1628819219.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:46:59.945Z,1628819219.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,002DD,186,80,80,C9,FF
2021-08-13T01:46:59.947Z,1628819219.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:00.489Z,1628819220.489 [Micromodem](INFO): Nmea in: $SNTTA,0.342751,,,,014700.65*47

2021-08-13T01:47:02.795Z,1628819222.795 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:03.169Z,1628819223.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:03.169Z,1628819223.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:03.169Z,1628819223.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:03.170Z,1628819223.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:03.573Z,1628819223.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,002DD,186,80,80,C9,FF
2021-08-13T01:47:03.574Z,1628819223.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:03.574Z,1628819223.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:03.579Z,1628819223.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:04.004Z,1628819224.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:04.373Z,1628819224.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002EA,186,80,80,C2,FF
2021-08-13T01:47:04.373Z,1628819224.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:04.801Z,1628819224.801 [Micromodem](INFO): Nmea in: $SNTTA,0.042759,,,,014705.11*4A

2021-08-13T01:47:07.213Z,1628819227.213 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:07.620Z,1628819227.620 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:07.621Z,1628819227.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:07.621Z,1628819227.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:07.622Z,1628819227.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:08.013Z,1628819228.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,002EA,186,80,80,C2,FF
2021-08-13T01:47:08.014Z,1628819228.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:08.014Z,1628819228.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:08.015Z,1628819228.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:08.417Z,1628819228.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:08.817Z,1628819228.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,0030D,186,80,80,C6,FF
2021-08-13T01:47:08.818Z,1628819228.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:09.245Z,1628819229.245 [Micromodem](INFO): Nmea in: $SNTTA,0.077029,,,,014709.54*41

2021-08-13T01:47:11.689Z,1628819231.689 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:12.049Z,1628819232.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:12.049Z,1628819232.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:12.049Z,1628819232.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:12.050Z,1628819232.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:12.457Z,1628819232.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,0030D,186,80,80,C6,FF
2021-08-13T01:47:12.458Z,1628819232.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:12.458Z,1628819232.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:12.459Z,1628819232.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:12.860Z,1628819232.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:13.261Z,1628819233.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,00308,186,80,80,B1,FF
2021-08-13T01:47:13.262Z,1628819233.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:13.825Z,1628819233.825 [Micromodem](INFO): Nmea in: $SNTTA,0.175085,,,,014713.99*4E

2021-08-13T01:47:16.121Z,1628819236.121 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:16.501Z,1628819236.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:16.501Z,1628819236.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:16.502Z,1628819236.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:16.502Z,1628819236.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:16.897Z,1628819236.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,00308,186,80,80,B1,FF
2021-08-13T01:47:16.897Z,1628819236.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:16.897Z,1628819236.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:16.899Z,1628819236.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:17.313Z,1628819237.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:17.710Z,1628819237.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00310,186,80,80,B0,FF
2021-08-13T01:47:17.710Z,1628819237.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:18.123Z,1628819238.123 [Micromodem](INFO): Nmea in: $SNTTA,0.024587,0.412573,,,014718.43*58

2021-08-13T01:47:20.554Z,1628819240.554 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:20.937Z,1628819240.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:20.937Z,1628819240.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:20.937Z,1628819240.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:20.938Z,1628819240.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:21.337Z,1628819241.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00310,186,80,80,B0,FF
2021-08-13T01:47:21.338Z,1628819241.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:21.338Z,1628819241.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:21.339Z,1628819241.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:21.753Z,1628819241.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:22.161Z,1628819242.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00316,186,80,80,8C,FF
2021-08-13T01:47:22.161Z,1628819242.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:22.601Z,1628819242.601 [Micromodem](INFO): Nmea in: $SNTTA,0.008873,,,,014722.88*46

2021-08-13T01:47:24.996Z,1628819244.996 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:25.395Z,1628819245.395 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:25.395Z,1628819245.395 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:25.395Z,1628819245.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:25.396Z,1628819245.396 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:25.789Z,1628819245.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00316,186,80,80,8C,FF
2021-08-13T01:47:25.789Z,1628819245.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:25.789Z,1628819245.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:25.791Z,1628819245.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:26.201Z,1628819246.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:27.071Z,1628819247.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014727.32*58

2021-08-13T01:47:27.510Z,1628819247.510 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:29.421Z,1628819249.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,8C,FF
2021-08-13T01:47:29.421Z,1628819249.421 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,8C,FF
2021-08-13T01:47:29.421Z,1628819249.421 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T01:47:30.267Z,1628819250.267 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:30.650Z,1628819250.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:30.650Z,1628819250.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:30.651Z,1628819250.651 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:30.651Z,1628819250.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:31.041Z,1628819251.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,8C,FF
2021-08-13T01:47:31.041Z,1628819251.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:31.042Z,1628819251.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:31.043Z,1628819251.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:31.454Z,1628819251.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:31.842Z,1628819251.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00334,186,80,80,AC,FF
2021-08-13T01:47:31.843Z,1628819251.843 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:32.269Z,1628819252.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014732.57*5F

2021-08-13T01:47:32.311Z,1628819252.311 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T01:47:34.706Z,1628819254.706 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:35.077Z,1628819255.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:35.077Z,1628819255.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:35.077Z,1628819255.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:35.078Z,1628819255.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:35.485Z,1628819255.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,00334,186,80,80,AC,FF
2021-08-13T01:47:35.485Z,1628819255.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:35.485Z,1628819255.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:35.487Z,1628819255.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:35.904Z,1628819255.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:36.293Z,1628819256.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00340,187,80,80,9F,FF
2021-08-13T01:47:36.294Z,1628819256.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:36.726Z,1628819256.726 [Micromodem](INFO): Nmea in: $SNTTA,0.029423,,,,014737.02*4A

2021-08-13T01:47:39.150Z,1628819259.150 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:39.521Z,1628819259.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:39.521Z,1628819259.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:39.521Z,1628819259.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:39.522Z,1628819259.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:39.956Z,1628819259.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00340,187,80,80,9F,FF
2021-08-13T01:47:39.956Z,1628819259.956 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:39.957Z,1628819259.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:39.965Z,1628819259.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:40.341Z,1628819260.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:40.857Z,1628819260.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,00346,189,80,80,A3,FF
2021-08-13T01:47:40.858Z,1628819260.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:41.181Z,1628819261.181 [Micromodem](INFO): Nmea in: $SNTTA,0.036736,,,,014741.49*4D

2021-08-13T01:47:43.588Z,1628819263.588 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:43.997Z,1628819263.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:43.997Z,1628819263.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:43.997Z,1628819263.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:43.998Z,1628819263.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:44.369Z,1628819264.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,00346,189,80,80,A3,FF
2021-08-13T01:47:44.369Z,1628819264.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:44.369Z,1628819264.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:44.371Z,1628819264.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:44.785Z,1628819264.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:45.177Z,1628819265.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00350,189,80,80,88,FF
2021-08-13T01:47:45.178Z,1628819265.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:45.621Z,1628819265.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014745.90*54

2021-08-13T01:47:48.044Z,1628819268.044 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:48.409Z,1628819268.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:48.409Z,1628819268.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:48.409Z,1628819268.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:48.410Z,1628819268.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:48.813Z,1628819268.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00350,189,80,80,88,FF
2021-08-13T01:47:48.813Z,1628819268.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:48.813Z,1628819268.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:48.815Z,1628819268.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:49.226Z,1628819269.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:49.653Z,1628819269.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,0035D,189,80,80,9F,FF
2021-08-13T01:47:49.653Z,1628819269.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:50.050Z,1628819270.050 [Micromodem](INFO): Nmea in: $SNTTA,0.027172,,,,014750.34*41

2021-08-13T01:47:52.460Z,1628819272.460 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 14.16 m. Transitioning DDM to standby.
2021-08-13T01:47:52.461Z,1628819272.461 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T01:47:52.861Z,1628819272.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T01:47:52.861Z,1628819272.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T01:47:52.862Z,1628819272.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T01:47:52.862Z,1628819272.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T01:47:53.261Z,1628819273.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,0035D,189,80,80,9F,FF
2021-08-13T01:47:53.261Z,1628819273.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T01:47:53.261Z,1628819273.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T01:47:53.263Z,1628819273.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T01:47:53.673Z,1628819273.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T01:47:54.214Z,1628819274.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,00366,18A,80,80,A6,FF
2021-08-13T01:47:54.215Z,1628819274.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T01:47:54.529Z,1628819274.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,014754.79*53

2021-08-13T01:47:54.958Z,1628819274.958 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T01:47:55.319Z,1628819275.319 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T01:47:55.319Z,1628819275.319 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T01:47:55.319Z,1628819275.319 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T01:47:55.319Z,1628819275.319 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T01:47:55.320Z,1628819275.320 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T01:47:55.321Z,1628819275.321 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T01:47:55.321Z,1628819275.321 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T01:47:55.321Z,1628819275.321 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T01:47:55.321Z,1628819275.321 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T01:47:55.322Z,1628819275.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T01:47:55.322Z,1628819275.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T01:47:55.322Z,1628819275.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T01:47:56.196Z,1628819276.196 [Radio_Surface](INFO): Powering up
2021-08-13T01:48:02.176Z,1628819282.176 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T01:48:20.701Z,1628819300.701 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T01:48:20.704Z,1628819300.704 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T01:48:28.050Z,1628819308.050 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T01:48:28.050Z,1628819308.050 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T01:48:28.050Z,1628819308.050 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T01:48:28.050Z,1628819308.050 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T01:48:28.051Z,1628819308.051 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T01:48:28.051Z,1628819308.051 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T01:48:28.051Z,1628819308.051 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T01:48:32.296Z,1628819312.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T01:48:40.532Z,1628819320.532 [NAL9602](INFO): SBD MO Status=0, MOMSN=23600, MT Status=0, MTMSN=0
2021-08-13T01:48:40.532Z,1628819320.532 [NAL9602](INFO): No messages in MT queue
2021-08-13T01:48:41.704Z,1628819321.704 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,014841.00,A,4133.17634,N,07042.42768,W,0.894,0.00,130821,,,A*74
2021-08-13T01:48:41.706Z,1628819321.706 [NAL9602](INFO): GPS fix at 20210813T014841: (41.552939, -70.707128)
2021-08-13T01:48:41.745Z,1628819321.745 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T01:48:41.745Z,1628819321.745 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T01:48:54.843Z,1628819334.843 [Micromodem](INFO): Nmea in: $CARE330*76

2021-08-13T01:48:54.843Z,1628819334.843 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CARE330*76
 expected 25
2021-08-13T01:48:58.087Z,1628819338.087 [NAL9602](INFO): SBD MO Status=1, MOMSN=23601, MT Status=0, MTMSN=0
2021-08-13T01:48:58.140Z,1628819338.140 [NAL9602](INFO): Sent 100 bytes from file Logs/20210812T232438/Courier0039.lzma
2021-08-13T01:48:58.140Z,1628819338.140 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:49:07.452Z,1628819347.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T01:49:07.524Z,1628819347.524 [NAL9602](INFO): SBD MO Status=1, MOMSN=23602, MT Status=0, MTMSN=0
2021-08-13T01:49:07.576Z,1628819347.576 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0025.lzma
2021-08-13T01:49:07.576Z,1628819347.576 [NAL9602](INFO): Packets left to send: 4
2021-08-13T01:49:16.224Z,1628819356.224 [NAL9602](INFO): SBD MO Status=1, MOMSN=23603, MT Status=0, MTMSN=0
2021-08-13T01:49:16.276Z,1628819356.276 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0025.lzma
2021-08-13T01:49:16.276Z,1628819356.276 [NAL9602](INFO): Packets left to send: 3
2021-08-13T01:49:30.140Z,1628819370.140 [NAL9602](INFO): SBD MO Status=1, MOMSN=23604, MT Status=0, MTMSN=0
2021-08-13T01:49:30.188Z,1628819370.188 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0025.lzma
2021-08-13T01:49:30.188Z,1628819370.188 [NAL9602](INFO): Packets left to send: 2
2021-08-13T01:49:40.807Z,1628819380.807 [NAL9602](INFO): SBD MO Status=1, MOMSN=23605, MT Status=0, MTMSN=0
2021-08-13T01:49:40.868Z,1628819380.868 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0025.lzma
2021-08-13T01:49:40.868Z,1628819380.868 [NAL9602](INFO): Packets left to send: 1
2021-08-13T01:49:42.600Z,1628819382.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T01:49:50.640Z,1628819390.640 [NAL9602](INFO): SBD MO Status=1, MOMSN=23606, MT Status=0, MTMSN=0
2021-08-13T01:49:50.688Z,1628819390.688 [NAL9602](INFO): Sent 126 bytes from file Logs/20210812T232438/Express0025.lzma
2021-08-13T01:49:50.688Z,1628819390.688 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:50:00.154Z,1628819400.154 [NAL9602](INFO): SBD MO Status=1, MOMSN=23607, MT Status=0, MTMSN=0
2021-08-13T01:50:00.207Z,1628819400.207 [NAL9602](INFO): Sent 142 bytes from file Logs/20210812T232438/Express0028.lzma
2021-08-13T01:50:00.208Z,1628819400.208 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:50:09.172Z,1628819409.172 [NAL9602](INFO): SBD MO Status=1, MOMSN=23608, MT Status=0, MTMSN=0
2021-08-13T01:50:09.228Z,1628819409.228 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0031.lzma
2021-08-13T01:50:09.228Z,1628819409.228 [NAL9602](INFO): Packets left to send: 3
2021-08-13T01:50:17.435Z,1628819417.435 [NAL9602](INFO): SBD MO Status=1, MOMSN=23609, MT Status=0, MTMSN=0
2021-08-13T01:50:17.485Z,1628819417.485 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0031.lzma
2021-08-13T01:50:17.485Z,1628819417.485 [NAL9602](INFO): Packets left to send: 2
2021-08-13T01:50:17.741Z,1628819417.741 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T01:50:26.104Z,1628819426.104 [NAL9602](INFO): SBD MO Status=1, MOMSN=23610, MT Status=0, MTMSN=0
2021-08-13T01:50:26.152Z,1628819426.152 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0031.lzma
2021-08-13T01:50:26.152Z,1628819426.152 [NAL9602](INFO): Packets left to send: 1
2021-08-13T01:50:33.104Z,1628819433.104 [NAL9602](INFO): SBD MO Status=1, MOMSN=23611, MT Status=0, MTMSN=0
2021-08-13T01:50:33.148Z,1628819433.148 [NAL9602](INFO): Sent 37 bytes from file Logs/20210812T232438/Express0031.lzma
2021-08-13T01:50:33.149Z,1628819433.149 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:50:43.804Z,1628819443.804 [NAL9602](INFO): SBD MO Status=1, MOMSN=23612, MT Status=0, MTMSN=0
2021-08-13T01:50:43.853Z,1628819443.853 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0034.lzma
2021-08-13T01:50:43.853Z,1628819443.853 [NAL9602](INFO): Packets left to send: 1
2021-08-13T01:50:51.280Z,1628819451.280 [NAL9602](INFO): SBD MO Status=1, MOMSN=23613, MT Status=0, MTMSN=0
2021-08-13T01:50:51.328Z,1628819451.328 [NAL9602](INFO): Sent 117 bytes from file Logs/20210812T232438/Express0034.lzma
2021-08-13T01:50:51.328Z,1628819451.328 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:50:52.880Z,1628819452.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T01:51:03.604Z,1628819463.604 [NAL9602](INFO): SBD MO Status=1, MOMSN=23614, MT Status=0, MTMSN=0
2021-08-13T01:51:03.652Z,1628819463.652 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0037.lzma
2021-08-13T01:51:03.652Z,1628819463.652 [NAL9602](INFO): Packets left to send: 1
2021-08-13T01:51:22.000Z,1628819482.000 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003215
2021-08-13T01:51:25.670Z,1628819485.670 [NAL9602](INFO): SBD MO Status=1, MOMSN=23615, MT Status=0, MTMSN=0
2021-08-13T01:51:25.720Z,1628819485.720 [NAL9602](INFO): Sent 148 bytes from file Logs/20210812T232438/Express0037.lzma
2021-08-13T01:51:25.721Z,1628819485.721 [NAL9602](INFO): Packets left to send: 0
2021-08-13T01:51:26.016Z,1628819486.016 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0042.lzma
2021-08-13T01:51:27.018Z,1628819487.018 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0042.lzma.bak
2021-08-13T01:51:27.018Z,1628819487.018 [DataOverHttps](INFO): SBD MOMSN=429233
2021-08-13T01:51:36.057Z,1628819496.057 [DataOverHttps](INFO): Sending 500 bytes from file Logs/20210812T232438/Express0040.lzma
2021-08-13T01:51:37.058Z,1628819497.058 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0040.lzma.bak
2021-08-13T01:51:37.058Z,1628819497.058 [DataOverHttps](INFO): SBD MOMSN=429235
2021-08-13T01:51:39.000Z,1628819499.000 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T01:51:39.402Z,1628819499.402 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813015139.372377,06,344,19,0090,0150,208,02,02,01,02,5,-01,-01,2,3,1,0,150,3.5,6.46,-100,-3.46,-01,-0.26,63,14500,4000*50

2021-08-13T01:51:46.095Z,1628819506.095 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210812T232438/Express0043.lzma
2021-08-13T01:51:47.098Z,1628819507.098 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0043.lzma.bak
2021-08-13T01:51:47.098Z,1628819507.098 [DataOverHttps](INFO): SBD MOMSN=429242
2021-08-13T01:51:48.696Z,1628819508.696 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T01:51:48.697Z,1628819508.697 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T01:51:48.697Z,1628819508.697 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T01:51:56.370Z,1628819516.370 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T01:52:41.636Z,1628819561.636 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T01:52:41.636Z,1628819561.636 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T01:52:41.638Z,1628819561.638 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T01:52:42.039Z,1628819562.039 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813015241.359828,06,216,23,0104,0150,134,02,02,00,02,-1,-01,-01,1,3,2,0,150,78.0,4.02,-100,-1.02,-01,-4.05,-12,14500,4000*64

2021-08-13T01:56:26.663Z,1628819786.663 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T01:56:26.682Z,1628819786.682 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813015627.364702,06,738,22,0093,0150,134,03,03,01,03,-1,-01,-01,1,3,5,0,150,8.4,-0.16,-100,3.16,-01,-4.24,59,14500,4000*7D

2021-08-13T01:56:49.293Z,1628819809.293 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T01:56:49.293Z,1628819809.293 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T01:56:49.293Z,1628819809.293 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T01:56:49.294Z,1628819809.294 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T01:56:49.715Z,1628819809.715 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T01:56:49.715Z,1628819809.715 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T01:56:50.132Z,1628819810.132 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.556823 min 
2021-08-13T01:56:50.132Z,1628819810.132 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T01:56:50.132Z,1628819810.132 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T01:56:50.132Z,1628819810.132 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T01:56:50.132Z,1628819810.132 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T01:56:50.133Z,1628819810.133 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-13T01:56:50.133Z,1628819810.133 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-13T01:56:50.133Z,1628819810.133 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T01:56:50.133Z,1628819810.133 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T01:56:52.116Z,1628819812.116 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,015651.00,A,4133.19390,N,07042.36823,W,0.564,57.15,130821,,,A*48
2021-08-13T01:56:52.118Z,1628819812.118 [NAL9602](INFO): GPS fix at 20210813T015651: (41.553232, -70.706137)
2021-08-13T01:56:52.167Z,1628819812.167 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T01:56:52.167Z,1628819812.167 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T01:56:56.383Z,1628819816.383 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T232438/Courier0045.lzma
2021-08-13T01:56:57.386Z,1628819817.386 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0045.lzma.bak
2021-08-13T01:56:57.386Z,1628819817.386 [DataOverHttps](INFO): SBD MOMSN=429276
2021-08-13T01:56:58.635Z,1628819818.635 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T01:56:58.635Z,1628819818.635 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T01:56:58.987Z,1628819818.987 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T01:56:59.400Z,1628819819.400 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813015659.344417,06,1416,25,0116,0150,134,01,01,01,01,-1,-01,-01,1,3,2,0,150,61.9,0.48,-100,2.52,-01,-0.74,-6,14500,4000*42

2021-08-13T01:57:06.424Z,1628819826.424 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210812T232438/Express0046.lzma
2021-08-13T01:57:07.426Z,1628819827.426 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0046.lzma.bak
2021-08-13T01:57:07.426Z,1628819827.426 [DataOverHttps](INFO): SBD MOMSN=429279
2021-08-13T01:57:08.681Z,1628819828.681 [NAL9602](INFO): SBD MO Status=0, MOMSN=23616, MT Status=0, MTMSN=0
2021-08-13T01:57:08.681Z,1628819828.681 [NAL9602](INFO): No messages in MT queue
2021-08-13T01:57:09.101Z,1628819829.101 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T01:57:09.101Z,1628819829.101 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T01:57:09.101Z,1628819829.101 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T01:57:39.380Z,1628819859.380 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T01:57:44.646Z,1628819864.646 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T01:59:06.645Z,1628819946.645 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T01:59:06.649Z,1628819946.649 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813015907.365280,06,231,23,0101,0150,74,01,01,00,01,-1,-01,-01,1,3,6,0,150,25.9,-6.99,-100,9.99,-01,-1.57,54,14500,4000*7E

2021-08-13T02:00:19.786Z,1628820019.786 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:01:56.735Z,1628820116.735 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-13T02:01:56.740Z,1628820116.740 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020157.362162,06,213,23,0106,0150,194,02,02,00,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*5E

2021-08-13T02:02:09.673Z,1628820129.673 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T02:02:09.673Z,1628820129.673 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T02:02:09.673Z,1628820129.673 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T02:02:09.673Z,1628820129.673 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T02:02:10.136Z,1628820130.136 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T02:02:10.136Z,1628820130.136 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T02:02:10.483Z,1628820130.483 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.897183 min 
2021-08-13T02:02:10.483Z,1628820130.483 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T02:02:10.483Z,1628820130.483 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:02:10.483Z,1628820130.483 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T02:02:10.483Z,1628820130.483 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:02:10.484Z,1628820130.484 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-13T02:02:10.484Z,1628820130.484 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-13T02:02:10.485Z,1628820130.485 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:02:10.485Z,1628820130.485 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T02:02:12.488Z,1628820132.488 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020211.00,A,4133.20705,N,07042.32836,W,0.564,43.48,130821,,,A*41
2021-08-13T02:02:12.491Z,1628820132.491 [NAL9602](INFO): GPS fix at 20210813T020211: (41.553451, -70.705473)
2021-08-13T02:02:12.517Z,1628820132.517 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T02:02:12.517Z,1628820132.517 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T02:02:17.687Z,1628820137.687 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T232438/Courier0048.lzma
2021-08-13T02:02:18.690Z,1628820138.690 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0048.lzma.bak
2021-08-13T02:02:18.690Z,1628820138.690 [DataOverHttps](INFO): SBD MOMSN=429286
2021-08-13T02:02:22.988Z,1628820142.988 [NAL9602](INFO): SBD MO Status=0, MOMSN=23617, MT Status=0, MTMSN=0
2021-08-13T02:02:22.988Z,1628820142.988 [NAL9602](INFO): No messages in MT queue
2021-08-13T02:02:27.728Z,1628820147.728 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210812T232438/Express0049.lzma
2021-08-13T02:02:28.730Z,1628820148.730 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0049.lzma.bak
2021-08-13T02:02:28.730Z,1628820148.730 [DataOverHttps](INFO): SBD MOMSN=429289
2021-08-13T02:02:30.307Z,1628820150.307 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T02:02:30.307Z,1628820150.307 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T02:02:30.307Z,1628820150.307 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T02:02:40.773Z,1628820160.773 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T02:02:40.778Z,1628820160.778 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020241.361907,06,226,23,0101,0150,149,01,01,00,01,-1,-01,-01,1,3,6,0,150,24.5,0.11,-100,2.89,-01,-1.57,56,14500,4000*66

2021-08-13T02:02:44.855Z,1628820164.855 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:02:53.299Z,1628820173.299 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T02:02:53.299Z,1628820173.299 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T02:02:53.301Z,1628820173.301 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T02:02:53.705Z,1628820173.705 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020253.342736,06,1381,25,0100,0150,74,01,01,01,02,-1,-01,-01,1,3,4,0,150,70.8,0.51,-100,2.49,-01,-1.69,-12,14500,4000*49

2021-08-13T02:02:53.707Z,1628820173.707 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:03:04.606Z,1628820184.606 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T02:03:04.611Z,1628820184.611 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020305.345352,06,1608,26,0098,0150,82,00,00,01,00,-1,-01,-01,1,3,8,0,150,31.6,-0.13,-100,3.13,-01,-1.31,52,14500,4000*40

2021-08-13T02:04:30.259Z,1628820270.259 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:05:10.649Z,1628820310.649 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T02:05:10.654Z,1628820310.654 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020509.358114,06,637,22,0092,0150,149,01,01,01,01,4,-01,-01,2,3,1,0,150,7.7,-3.25,-100,6.25,-01,-3.74,54,14500,4000*57

2021-08-13T02:05:30.084Z,1628820330.084 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T02:05:30.084Z,1628820330.084 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T02:05:30.084Z,1628820330.084 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T02:05:30.113Z,1628820330.113 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T02:05:30.552Z,1628820330.552 [RDI_Pathfinder](INFO): Powering down
2021-08-13T02:05:31.278Z,1628820331.278 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T02:05:31.278Z,1628820331.278 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T02:05:51.456Z,1628820351.456 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T02:05:51.456Z,1628820351.456 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T02:05:51.458Z,1628820351.458 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T02:05:51.862Z,1628820351.862 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020551.149075,06,1577,25,0121,0150,134,01,01,01,01,-1,-01,-01,1,3,2,0,150,68.4,-349.36,-100,-303.00,-01,0.00,-6,14500,4000*6A

2021-08-13T02:07:04.993Z,1628820424.993 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T02:07:04.998Z,1628820424.998 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813020703.147195,06,1163,24,0107,0150,149,00,00,01,00,3,-01,-01,2,3,1,0,150,11.2,-346.08,351,-306.28,-01,0.00,55,14500,4000*7B

2021-08-13T02:07:30.854Z,1628820450.854 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T02:07:30.855Z,1628820450.855 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T02:07:30.855Z,1628820450.855 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T02:07:30.855Z,1628820450.855 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T02:07:31.268Z,1628820451.268 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T02:07:31.268Z,1628820451.268 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 21.249382 min 
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:07:31.663Z,1628820451.663 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-08-13T02:07:31.664Z,1628820451.664 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-08-13T02:07:31.664Z,1628820451.664 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:07:31.664Z,1628820451.664 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T02:07:33.666Z,1628820453.666 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,020732.00,A,4133.22380,N,07042.28442,W,0.097,42.76,130821,,,A*4F
2021-08-13T02:07:33.669Z,1628820453.669 [NAL9602](INFO): GPS fix at 20210813T020732: (41.553730, -70.704740)
2021-08-13T02:07:33.679Z,1628820453.679 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T02:07:33.679Z,1628820453.679 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T02:07:38.003Z,1628820458.003 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210812T232438/Courier0051.lzma
2021-08-13T02:07:39.007Z,1628820459.007 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0051.lzma.bak
2021-08-13T02:07:39.007Z,1628820459.007 [DataOverHttps](INFO): SBD MOMSN=429322
2021-08-13T02:07:48.051Z,1628820468.051 [DataOverHttps](INFO): Sending 118 bytes from file Logs/20210812T232438/Express0052.lzma
2021-08-13T02:07:49.046Z,1628820469.046 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0052.lzma.bak
2021-08-13T02:07:49.046Z,1628820469.046 [DataOverHttps](INFO): SBD MOMSN=429325
2021-08-13T02:07:50.632Z,1628820470.632 [NAL9602](INFO): SBD MO Status=0, MOMSN=23618, MT Status=0, MTMSN=0
2021-08-13T02:07:50.632Z,1628820470.632 [NAL9602](INFO): No messages in MT queue
2021-08-13T02:07:50.673Z,1628820470.673 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T02:07:50.673Z,1628820470.673 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T02:07:50.673Z,1628820470.673 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T02:08:21.338Z,1628820501.338 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:10:50.444Z,1628820650.444 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T02:10:50.454Z,1628820650.454 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813021051.161998,06,633,21,0098,0150,141,01,01,01,01,-1,-01,-01,1,3,8,0,150,25.4,-0.03,-100,3.03,-01,-2.41,55,14500,4000*4E

2021-08-13T02:12:38.258Z,1628820758.258 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T021237
2021-08-13T02:12:42.276Z,1628820762.276 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 20 min;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 m" 2ogsd 1 2
2021-08-13T02:12:42.345Z,1628820762.345 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 20 min;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 m" 2ogsd 1 2.000000
2021-08-13T02:12:42.345Z,1628820762.345 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2ogsd
2021-08-13T02:12:42.346Z,1628820762.346 [CommandLine](IMPORTANT): Scheduled #5 (#1 of 2 with id='2ogsd'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 45 min;set lineCaptureDepth.MicromodemCommsInterval 20 min;set lineCaptureDepth.Repeat 10 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-13T02:12:43.278Z,1628820763.278 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T021242
2021-08-13T02:12:47.296Z,1628820767.296 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ogsd 2 2
2021-08-13T02:12:47.365Z,1628820767.365 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2ogsd 2 2.000000
2021-08-13T02:12:47.366Z,1628820767.366 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2ogsd
2021-08-13T02:12:47.367Z,1628820767.367 [CommandLine](IMPORTANT): Scheduled #6 (#2 of 2 with id='2ogsd'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-13T02:12:47.470Z,1628820767.470 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T02:12:47.471Z,1628820767.471 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T02:12:47.624Z,1628820767.624 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-13T02:12:47.626Z,1628820767.626 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-13T02:12:47.633Z,1628820767.633 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-13T02:12:47.635Z,1628820767.635 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-13T02:12:47.662Z,1628820767.662 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-13T02:12:47.668Z,1628820767.668 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-13T02:12:47.671Z,1628820767.671 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-13T02:12:47.675Z,1628820767.675 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-13T02:12:47.690Z,1628820767.690 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-13T02:12:47.702Z,1628820767.702 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-13T02:12:47.721Z,1628820767.721 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-13T02:12:47.743Z,1628820767.743 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-13T02:12:47.758Z,1628820767.758 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-13T02:12:47.784Z,1628820767.784 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-13T02:12:47.787Z,1628820767.787 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-13T02:12:47.787Z,1628820767.787 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-13T02:12:48.171Z,1628820768.171 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-13T02:12:48.173Z,1628820768.173 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-13T02:12:48.175Z,1628820768.175 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-13T02:12:48.191Z,1628820768.191 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-13T02:12:48.193Z,1628820768.193 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-13T02:12:48.195Z,1628820768.195 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-13T02:12:48.198Z,1628820768.198 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-13T02:12:48.200Z,1628820768.200 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-13T02:12:48.202Z,1628820768.202 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-13T02:12:48.204Z,1628820768.204 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-13T02:12:48.206Z,1628820768.206 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-13T02:12:48.208Z,1628820768.208 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-13T02:12:48.210Z,1628820768.210 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-13T02:12:48.212Z,1628820768.212 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-13T02:12:48.215Z,1628820768.215 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-13T02:12:48.217Z,1628820768.217 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-13T02:12:48.222Z,1628820768.222 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-13T02:12:48.225Z,1628820768.225 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-13T02:12:48.227Z,1628820768.227 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-13T02:12:48.250Z,1628820768.250 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-13T02:12:48.257Z,1628820768.257 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-13T02:12:48.259Z,1628820768.259 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-13T02:12:48.269Z,1628820768.269 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-13T02:12:48.271Z,1628820768.271 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-13T02:12:48.278Z,1628820768.278 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-13T02:12:48.288Z,1628820768.288 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-13T02:12:48.291Z,1628820768.291 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-13T02:12:48.302Z,1628820768.302 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-13T02:12:48.309Z,1628820768.309 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-13T02:12:48.311Z,1628820768.311 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-13T02:12:48.329Z,1628820768.329 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-13T02:12:48.336Z,1628820768.336 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-13T02:12:48.338Z,1628820768.338 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-13T02:12:48.345Z,1628820768.345 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-13T02:12:48.347Z,1628820768.347 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-13T02:12:48.354Z,1628820768.354 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-13T02:12:48.409Z,1628820768.409 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-13T02:12:48.411Z,1628820768.411 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-13T02:12:48.422Z,1628820768.422 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-13T02:12:48.432Z,1628820768.432 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-13T02:12:48.435Z,1628820768.435 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-13T02:12:48.441Z,1628820768.441 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-13T02:12:48.452Z,1628820768.452 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-13T02:12:48.454Z,1628820768.454 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-13T02:12:48.461Z,1628820768.461 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-13T02:12:48.463Z,1628820768.463 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-13T02:12:48.470Z,1628820768.470 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-13T02:12:48.473Z,1628820768.473 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-13T02:12:48.484Z,1628820768.484 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-13T02:12:48.486Z,1628820768.486 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-13T02:12:48.493Z,1628820768.493 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-13T02:12:48.495Z,1628820768.495 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-13T02:12:48.502Z,1628820768.502 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-13T02:12:48.505Z,1628820768.505 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-13T02:12:48.507Z,1628820768.507 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-13T02:12:48.518Z,1628820768.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-13T02:12:48.524Z,1628820768.524 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-13T02:12:48.527Z,1628820768.527 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-13T02:12:48.534Z,1628820768.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-13T02:12:48.537Z,1628820768.537 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-13T02:12:48.552Z,1628820768.552 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-13T02:12:48.554Z,1628820768.554 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-13T02:12:48.561Z,1628820768.561 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-13T02:12:48.563Z,1628820768.563 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-13T02:12:48.604Z,1628820768.604 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T02:12:48.629Z,1628820768.629 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T02:12:48.658Z,1628820768.658 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T02:12:48.681Z,1628820768.681 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T02:12:48.715Z,1628820768.715 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T02:12:48.738Z,1628820768.738 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T02:12:48.766Z,1628820768.766 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T02:12:48.871Z,1628820768.871 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T02:12:48.899Z,1628820768.899 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T02:12:48.937Z,1628820768.937 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T02:12:48.944Z,1628820768.944 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T02:12:48.946Z,1628820768.946 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T02:12:48.947Z,1628820768.947 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T02:12:48.961Z,1628820768.961 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T02:12:48.979Z,1628820768.979 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T02:12:48.999Z,1628820768.999 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-13T02:12:49.067Z,1628820769.067 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-13T02:12:49.075Z,1628820769.075 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-13T02:12:49.078Z,1628820769.078 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-13T02:12:49.088Z,1628820769.088 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-13T02:12:49.093Z,1628820769.093 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-13T02:12:49.095Z,1628820769.095 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-13T02:12:49.098Z,1628820769.098 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-13T02:12:49.112Z,1628820769.112 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-13T02:12:49.145Z,1628820769.145 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-13T02:12:49.164Z,1628820769.164 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-13T02:12:49.166Z,1628820769.166 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-13T02:12:49.170Z,1628820769.170 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-13T02:12:49.265Z,1628820769.265 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-13T02:12:49.439Z,1628820769.439 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-13T02:12:49.441Z,1628820769.441 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-13T02:12:49.444Z,1628820769.444 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-13T02:12:49.446Z,1628820769.446 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-13T02:12:49.449Z,1628820769.449 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-13T02:12:49.451Z,1628820769.451 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-13T02:12:49.454Z,1628820769.454 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-13T02:12:49.457Z,1628820769.457 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-13T02:12:49.459Z,1628820769.459 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-13T02:12:49.462Z,1628820769.462 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-13T02:12:49.484Z,1628820769.484 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-13T02:12:49.486Z,1628820769.486 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-13T02:12:49.493Z,1628820769.493 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-13T02:12:49.495Z,1628820769.495 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-13T02:12:49.501Z,1628820769.501 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-13T02:12:49.503Z,1628820769.503 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-13T02:12:49.511Z,1628820769.511 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-13T02:12:49.513Z,1628820769.513 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-13T02:12:49.521Z,1628820769.521 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-13T02:12:49.534Z,1628820769.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-13T02:12:49.536Z,1628820769.536 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-13T02:12:49.538Z,1628820769.538 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-13T02:12:49.545Z,1628820769.545 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-13T02:12:49.547Z,1628820769.547 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-13T02:12:49.554Z,1628820769.554 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-13T02:12:49.560Z,1628820769.560 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-13T02:12:49.569Z,1628820769.569 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T02:12:49.642Z,1628820769.642 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T02:12:49.648Z,1628820769.648 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T02:12:49.651Z,1628820769.651 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T02:12:49.656Z,1628820769.656 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T02:12:49.677Z,1628820769.677 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T02:12:49.691Z,1628820769.691 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T02:12:49.790Z,1628820769.790 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-13T02:12:49.797Z,1628820769.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-13T02:12:49.841Z,1628820769.841 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-13T02:12:49.841Z,1628820769.841 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:12:49.874Z,1628820769.874 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-13T02:12:49.882Z,1628820769.882 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-13T02:12:49.896Z,1628820769.896 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-13T02:12:49.906Z,1628820769.906 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-13T02:12:49.913Z,1628820769.913 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-13T02:12:49.937Z,1628820769.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-13T02:12:49.956Z,1628820769.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-13T02:12:49.963Z,1628820769.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T02:12:49.963Z,1628820769.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T02:12:49.966Z,1628820769.966 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-13T02:12:50.026Z,1628820770.026 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-13T02:12:50.087Z,1628820770.087 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-13T02:12:50.098Z,1628820770.098 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-13T02:12:50.110Z,1628820770.110 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-13T02:12:50.117Z,1628820770.117 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-13T02:12:50.127Z,1628820770.127 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-13T02:12:50.183Z,1628820770.183 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-13T02:12:50.183Z,1628820770.183 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T02:12:50.191Z,1628820770.191 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-13T02:12:50.191Z,1628820770.191 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:12:50.273Z,1628820770.273 [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>


2021-08-13T02:12:50.274Z,1628820770.274 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-13T02:12:51.240Z,1628820771.240 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T02:12:51.240Z,1628820771.240 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T02:12:51.240Z,1628820771.240 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T02:12:51.241Z,1628820771.241 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T02:12:51.636Z,1628820771.636 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T02:12:51.636Z,1628820771.636 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T02:12:52.126Z,1628820772.126 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 26.588849 min 
2021-08-13T02:12:52.126Z,1628820772.126 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T02:12:52.126Z,1628820772.126 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:12:52.126Z,1628820772.126 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T02:12:52.126Z,1628820772.126 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:12:52.127Z,1628820772.127 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-08-13T02:12:52.127Z,1628820772.127 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-08-13T02:12:52.127Z,1628820772.127 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:12:52.127Z,1628820772.127 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T02:12:54.072Z,1628820774.072 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,021253.00,A,4133.23773,N,07042.24180,W,0.836,14.84,130821,,,A*4F
2021-08-13T02:12:54.074Z,1628820774.074 [NAL9602](INFO): GPS fix at 20210813T021253: (41.553962, -70.704030)
2021-08-13T02:12:54.181Z,1628820774.181 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T02:12:54.181Z,1628820774.181 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T02:12:55.426Z,1628820775.426 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:12:58.339Z,1628820778.339 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T232438/Courier0054.lzma
2021-08-13T02:12:59.342Z,1628820779.342 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0054.lzma.bak
2021-08-13T02:12:59.342Z,1628820779.342 [DataOverHttps](INFO): SBD MOMSN=429332
2021-08-13T02:13:03.830Z,1628820783.830 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:13:04.400Z,1628820784.400 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 45.000000 minute
2021-08-13T02:13:04.401Z,1628820784.401 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 20.000000 minute
2021-08-13T02:13:04.402Z,1628820784.402 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 10.000000 count
2021-08-13T02:13:04.403Z,1628820784.403 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-13T02:13:08.380Z,1628820788.380 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210812T232438/Courier0057.lzma
2021-08-13T02:13:09.382Z,1628820789.382 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0057.lzma.bak
2021-08-13T02:13:09.382Z,1628820789.382 [DataOverHttps](INFO): SBD MOMSN=429335
2021-08-13T02:13:10.268Z,1628820790.268 [NAL9602](INFO): SBD MO Status=0, MOMSN=23619, MT Status=0, MTMSN=0
2021-08-13T02:13:10.268Z,1628820790.268 [NAL9602](INFO): No messages in MT queue
2021-08-13T02:13:11.635Z,1628820791.635 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-13T02:13:11.635Z,1628820791.635 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-13T02:13:11.636Z,1628820791.636 [CommandLine](IMPORTANT): got command run
2021-08-13T02:13:11.642Z,1628820791.642 [CommandLine](IMPORTANT): Running 
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock] Stopped
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T02:13:11.920Z,1628820791.920 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T02:13:11.921Z,1628820791.921 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:13:11.921Z,1628820791.921 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T02:13:11.921Z,1628820791.921 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-13T02:13:11.921Z,1628820791.921 [lineCaptureDepth] Running Loop=1
2021-08-13T02:13:11.921Z,1628820791.921 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-13T02:13:11.921Z,1628820791.921 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T02:13:11.921Z,1628820791.921 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T02:13:11.922Z,1628820791.922 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T02:13:11.923Z,1628820791.923 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T02:13:11.924Z,1628820791.924 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-13T02:13:11.924Z,1628820791.924 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T02:13:11.924Z,1628820791.924 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T02:13:11.925Z,1628820791.925 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T02:13:11.925Z,1628820791.925 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-13T02:13:11.925Z,1628820791.925 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T02:13:11.925Z,1628820791.925 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T02:13:11.925Z,1628820791.925 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T02:13:11.927Z,1628820791.927 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-13T02:13:11.927Z,1628820791.927 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T02:13:11.927Z,1628820791.927 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T02:13:11.927Z,1628820791.927 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T02:13:11.945Z,1628820791.945 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-13T02:13:11.945Z,1628820791.945 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T02:13:11.945Z,1628820791.945 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T02:13:11.945Z,1628820791.945 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T02:13:11.945Z,1628820791.945 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-13T02:13:11.946Z,1628820791.946 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T02:13:11.946Z,1628820791.946 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T02:13:11.946Z,1628820791.946 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T02:13:11.947Z,1628820791.947 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-13T02:13:11.947Z,1628820791.947 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T02:13:11.952Z,1628820791.952 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T02:13:11.952Z,1628820791.952 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T02:13:11.953Z,1628820791.953 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-13T02:13:11.953Z,1628820791.953 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T02:13:11.954Z,1628820791.954 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T02:13:11.954Z,1628820791.954 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T02:13:11.954Z,1628820791.954 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-13T02:13:11.954Z,1628820791.954 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T02:13:11.954Z,1628820791.954 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T02:13:11.955Z,1628820791.955 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T02:13:11.960Z,1628820791.960 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T02:13:11.960Z,1628820791.960 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T02:13:11.960Z,1628820791.960 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T02:13:11.960Z,1628820791.960 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T02:13:11.961Z,1628820791.961 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:13:11.962Z,1628820791.962 [lineCaptureDepth:C] Running Loop=1
2021-08-13T02:13:11.963Z,1628820791.963 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T02:13:11.963Z,1628820791.963 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:13:11.963Z,1628820791.963 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T02:13:11.963Z,1628820791.963 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T02:13:11.968Z,1628820791.968 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T02:13:11.968Z,1628820791.968 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-13T02:13:11.968Z,1628820791.968 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T02:13:11.969Z,1628820791.969 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-13T02:13:11.970Z,1628820791.970 [lineCaptureDepth:C] Stopped
2021-08-13T02:13:11.970Z,1628820791.970 [lineCaptureDepth:D] Running Loop=1
2021-08-13T02:13:11.970Z,1628820791.970 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-13T02:13:11.970Z,1628820791.970 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T02:13:11.970Z,1628820791.970 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T02:13:11.971Z,1628820791.971 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T02:13:11.971Z,1628820791.971 [lineCaptureDepth:Science] Running Loop=1
2021-08-13T02:13:11.976Z,1628820791.976 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-13T02:13:11.977Z,1628820791.977 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T02:13:11.978Z,1628820791.978 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-13T02:13:11.979Z,1628820791.979 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T02:13:11.984Z,1628820791.984 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T02:13:11.985Z,1628820791.985 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:F] Stopped
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:E] Stopped
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:D] Stopped
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-13T02:13:11.986Z,1628820791.986 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-13T02:13:11.987Z,1628820791.987 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-13T02:13:11.987Z,1628820791.987 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-13T02:13:11.992Z,1628820791.992 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-13T02:13:11.994Z,1628820791.994 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-13T02:13:11.994Z,1628820791.994 [lineCaptureDepth:Science:A] Stopped
2021-08-13T02:13:12.324Z,1628820792.324 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T02:13:12.324Z,1628820792.324 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T02:13:12.324Z,1628820792.324 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T02:13:12.325Z,1628820792.325 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:13:12.325Z,1628820792.325 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T02:13:12.325Z,1628820792.325 [lineCaptureDepth:D] Stopped
2021-08-13T02:13:12.325Z,1628820792.325 [lineCaptureDepth:E] Running Loop=1
2021-08-13T02:13:12.391Z,1628820792.391 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T02:13:12.711Z,1628820792.711 [lineCaptureDepth:E] Stopped
2021-08-13T02:13:12.711Z,1628820792.711 [lineCaptureDepth:G] Running Loop=1
2021-08-13T02:13:13.121Z,1628820793.121 [lineCaptureDepth:G] Stopped
2021-08-13T02:13:13.121Z,1628820793.121 [lineCaptureDepth:H] Running Loop=1
2021-08-13T02:13:13.538Z,1628820793.538 [lineCaptureDepth:H] Stopped
2021-08-13T02:13:13.538Z,1628820793.538 [lineCaptureDepth:J] Running Loop=1
2021-08-13T02:13:13.939Z,1628820793.939 [lineCaptureDepth:J] Stopped
2021-08-13T02:13:13.939Z,1628820793.939 [lineCaptureDepth:M] Running Loop=1
2021-08-13T02:13:14.324Z,1628820794.324 [lineCaptureDepth:M] Stopped
2021-08-13T02:13:14.324Z,1628820794.324 [lineCaptureDepth:N] Running Loop=1
2021-08-13T02:13:14.741Z,1628820794.741 [lineCaptureDepth:N] Stopped
2021-08-13T02:13:14.741Z,1628820794.741 [lineCaptureDepth:O] Running Loop=1
2021-08-13T02:13:14.741Z,1628820794.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:15.117Z,1628820795.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:15.117Z,1628820795.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:15.117Z,1628820795.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:15.118Z,1628820795.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:15.190Z,1628820795.190 [lineCaptureDepth:O] Stopped
2021-08-13T02:13:15.191Z,1628820795.191 [lineCaptureDepth:Lap] Running Loop=1
2021-08-13T02:13:15.191Z,1628820795.191 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T02:13:15.191Z,1628820795.191 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T02:13:15.515Z,1628820795.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,00366,18A,80,80,A6,FF
2021-08-13T02:13:15.515Z,1628820795.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:15.515Z,1628820795.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:15.517Z,1628820795.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:15.587Z,1628820795.587 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T02:13:15.587Z,1628820795.587 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T02:13:15.592Z,1628820795.592 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T02:13:15.934Z,1628820795.934 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-13T02:13:15.935Z,1628820795.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T02:13:16.012Z,1628820796.012 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:13:16.013Z,1628820796.013 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T02:13:16.014Z,1628820796.014 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T02:13:16.015Z,1628820796.015 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T02:13:16.016Z,1628820796.016 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T02:13:16.016Z,1628820796.016 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T02:13:16.016Z,1628820796.016 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T02:13:16.017Z,1628820796.017 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T02:13:16.017Z,1628820796.017 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T02:13:16.017Z,1628820796.017 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T02:13:16.358Z,1628820796.358 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T02:13:16.359Z,1628820796.359 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T02:13:16.791Z,1628820796.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,014E7,186,80,80,67,FF
2021-08-13T02:13:16.791Z,1628820796.791 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:16.854Z,1628820796.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021317.04*5C

2021-08-13T02:13:16.899Z,1628820796.899 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T02:13:16.900Z,1628820796.900 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T02:13:17.166Z,1628820797.166 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T02:13:17.166Z,1628820797.166 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T02:13:17.566Z,1628820797.566 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T02:13:17.566Z,1628820797.566 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T02:13:17.566Z,1628820797.566 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T02:13:17.566Z,1628820797.566 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T02:13:17.567Z,1628820797.567 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:13:17.568Z,1628820797.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T02:13:17.568Z,1628820797.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:13:17.568Z,1628820797.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T02:13:17.568Z,1628820797.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:13:17.568Z,1628820797.568 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:13:17.569Z,1628820797.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T02:13:17.570Z,1628820797.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T02:13:18.003Z,1628820798.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T02:13:18.004Z,1628820798.004 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T02:13:18.005Z,1628820798.005 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T02:13:18.362Z,1628820798.362 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:13:18.421Z,1628820798.421 [DataOverHttps](INFO): Sending 454 bytes from file Logs/20210812T232438/Express0055.lzma
2021-08-13T02:13:19.422Z,1628820799.422 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0055.lzma.bak
2021-08-13T02:13:19.422Z,1628820799.422 [DataOverHttps](INFO): SBD MOMSN=429337
2021-08-13T02:13:19.601Z,1628820799.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:19.993Z,1628820799.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:19.993Z,1628820799.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:19.993Z,1628820799.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:19.994Z,1628820799.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:20.417Z,1628820800.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,014E7,186,80,80,67,FF
2021-08-13T02:13:20.417Z,1628820800.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:20.417Z,1628820800.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:20.419Z,1628820800.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:20.830Z,1628820800.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:20.900Z,1628820800.900 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T02:13:21.226Z,1628820801.226 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T02:13:21.618Z,1628820801.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,014E1,186,80,80,60,FF
2021-08-13T02:13:21.619Z,1628820801.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:21.622Z,1628820801.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021321.94*50

2021-08-13T02:13:24.446Z,1628820804.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:24.842Z,1628820804.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:24.843Z,1628820804.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:24.843Z,1628820804.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:24.844Z,1628820804.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:25.249Z,1628820805.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,014E1,186,80,80,60,FF
2021-08-13T02:13:25.249Z,1628820805.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:25.249Z,1628820805.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:25.251Z,1628820805.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:25.645Z,1628820805.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:26.481Z,1628820806.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,01505,186,80,80,92,FF
2021-08-13T02:13:26.481Z,1628820806.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:26.484Z,1628820806.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021326.78*55

2021-08-13T02:13:29.355Z,1628820809.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:29.701Z,1628820809.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:29.702Z,1628820809.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:29.702Z,1628820809.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:29.704Z,1628820809.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:30.085Z,1628820810.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,01505,186,80,80,92,FF
2021-08-13T02:13:30.085Z,1628820810.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:30.085Z,1628820810.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:30.087Z,1628820810.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:30.541Z,1628820810.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:30.585Z,1628820810.585 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:13:30.937Z,1628820810.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00CC5,187,80,80,AB,FF
2021-08-13T02:13:30.938Z,1628820810.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:31.390Z,1628820811.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021331.61*5B

2021-08-13T02:13:33.885Z,1628820813.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:34.169Z,1628820814.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:34.169Z,1628820814.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:34.169Z,1628820814.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:34.170Z,1628820814.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:34.573Z,1628820814.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00CC5,187,80,80,AB,FF
2021-08-13T02:13:34.573Z,1628820814.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:34.573Z,1628820814.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:34.575Z,1628820814.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:34.986Z,1628820814.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:35.817Z,1628820815.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,01509,186,80,80,5F,FF
2021-08-13T02:13:35.818Z,1628820815.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:35.820Z,1628820815.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021336.10*5A

2021-08-13T02:13:38.633Z,1628820818.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:39.013Z,1628820819.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:39.013Z,1628820819.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:39.013Z,1628820819.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:39.014Z,1628820819.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:39.425Z,1628820819.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,01509,186,80,80,5F,FF
2021-08-13T02:13:39.426Z,1628820819.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:39.426Z,1628820819.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:39.429Z,1628820819.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:39.824Z,1628820819.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:40.645Z,1628820820.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,01521,187,80,80,5C,FF
2021-08-13T02:13:40.645Z,1628820820.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:40.648Z,1628820820.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021340.95*56

2021-08-13T02:13:41.065Z,1628820821.065 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:13:41.485Z,1628820821.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 287.04 m. Transitioning DDM to standby.
2021-08-13T02:13:43.509Z,1628820823.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:43.893Z,1628820823.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:43.893Z,1628820823.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:43.894Z,1628820823.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:43.895Z,1628820823.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:43.972Z,1628820823.972 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T02:13:44.278Z,1628820824.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,01521,187,80,80,5C,FF
2021-08-13T02:13:44.278Z,1628820824.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:44.278Z,1628820824.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:44.286Z,1628820824.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:44.384Z,1628820824.384 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T02:13:44.384Z,1628820824.384 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T02:13:44.385Z,1628820824.385 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T02:13:44.640Z,1628820824.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:44.701Z,1628820824.701 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T02:13:44.702Z,1628820824.702 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T02:13:44.705Z,1628820824.705 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T02:13:45.145Z,1628820825.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T02:13:45.145Z,1628820825.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:13:45.145Z,1628820825.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T02:13:45.145Z,1628820825.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:13:45.145Z,1628820825.145 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:13:45.464Z,1628820825.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0153F,184,80,80,88,FF
2021-08-13T02:13:45.465Z,1628820825.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:45.471Z,1628820825.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021345.81*56

2021-08-13T02:13:45.494Z,1628820825.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T02:13:45.494Z,1628820825.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:13:45.494Z,1628820825.494 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T02:13:45.495Z,1628820825.495 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T02:13:45.516Z,1628820825.516 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T02:13:45.517Z,1628820825.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T02:13:45.517Z,1628820825.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T02:13:45.517Z,1628820825.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:13:45.517Z,1628820825.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T02:13:45.518Z,1628820825.518 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 287.040009 m 
2021-08-13T02:13:45.518Z,1628820825.518 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T02:13:45.518Z,1628820825.518 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T02:13:45.519Z,1628820825.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T02:13:45.519Z,1628820825.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T02:13:45.519Z,1628820825.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T02:13:45.519Z,1628820825.519 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T02:13:45.963Z,1628820825.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T02:13:45.963Z,1628820825.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:13:45.963Z,1628820825.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T02:13:45.963Z,1628820825.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:13:45.963Z,1628820825.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T02:13:45.980Z,1628820825.980 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T02:13:45.981Z,1628820825.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T02:13:45.981Z,1628820825.981 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T02:13:46.397Z,1628820826.397 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T02:13:46.397Z,1628820826.397 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:13:46.397Z,1628820826.397 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T02:13:46.398Z,1628820826.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T02:13:46.398Z,1628820826.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T02:13:46.659Z,1628820826.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T02:13:46.660Z,1628820826.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T02:13:46.660Z,1628820826.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T02:13:46.660Z,1628820826.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T02:13:46.661Z,1628820826.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T02:13:46.661Z,1628820826.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T02:13:46.661Z,1628820826.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T02:13:46.661Z,1628820826.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T02:13:46.662Z,1628820826.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T02:13:46.662Z,1628820826.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T02:13:46.662Z,1628820826.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T02:13:46.663Z,1628820826.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:13:46.663Z,1628820826.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T02:13:46.663Z,1628820826.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:13:46.663Z,1628820826.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T02:13:46.663Z,1628820826.663 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:13:46.664Z,1628820826.664 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T02:13:46.664Z,1628820826.664 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T02:13:46.664Z,1628820826.664 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T02:13:46.664Z,1628820826.664 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T02:13:46.664Z,1628820826.664 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T02:13:46.905Z,1628820826.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.839966 m, bearing: 244.237893 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:13:46.906Z,1628820826.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 244.237893deg and heading rate command to 0 deg/s.
2021-08-13T02:13:48.178Z,1628820828.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:48.533Z,1628820828.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:48.533Z,1628820828.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:48.533Z,1628820828.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:48.534Z,1628820828.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:48.939Z,1628820828.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0153F,184,80,80,88,FF
2021-08-13T02:13:48.939Z,1628820828.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:48.939Z,1628820828.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:48.941Z,1628820828.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:49.344Z,1628820829.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:50.193Z,1628820830.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4E,000,01550,186,80,80,8D,FF
2021-08-13T02:13:50.193Z,1628820830.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:50.196Z,1628820830.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021350.46*59

2021-08-13T02:13:50.591Z,1628820830.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.859985 m, bearing: 242.302136 deg, deltaT: 4.756419 s, approachRate: 0.214451 m/s, LOS rate: -0.406978 deg/s, posRepo size: 2
2021-08-13T02:13:50.591Z,1628820830.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.406978 deg/s. Setting heading cmd to target bearing of 242.302136deg and heading rate command to 0 deg/s.
2021-08-13T02:13:53.017Z,1628820833.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:53.377Z,1628820833.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:53.377Z,1628820833.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:53.377Z,1628820833.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:53.378Z,1628820833.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:53.813Z,1628820833.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4E,000,01550,186,80,80,8D,FF
2021-08-13T02:13:53.813Z,1628820833.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:53.813Z,1628820833.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:53.815Z,1628820833.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:54.304Z,1628820834.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:55.112Z,1628820835.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,0155A,187,80,80,83,FF
2021-08-13T02:13:55.113Z,1628820835.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:55.116Z,1628820835.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021355.34*59

2021-08-13T02:13:55.544Z,1628820835.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.459991 m, bearing: 244.287043 deg, deltaT: 4.847751 s, approachRate: 0.123770 m/s, LOS rate: 0.409449 deg/s, posRepo size: 3
2021-08-13T02:13:55.546Z,1628820835.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.459991 m,
      bearing: 244.287043 deg,
      approachRate: 0.123770 m/s,
      LOS rate: 0.409449 deg/s,
      cmd update: 1.228348 deg/s,
      cmd heading: 242.302136 deg,
      new cmd heading: 242.302136 deg.

2021-08-13T02:13:57.967Z,1628820837.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:13:58.333Z,1628820838.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:13:58.333Z,1628820838.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:13:58.333Z,1628820838.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:13:58.334Z,1628820838.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:13:58.733Z,1628820838.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,0155A,187,80,80,83,FF
2021-08-13T02:13:58.733Z,1628820838.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:13:58.733Z,1628820838.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:13:58.735Z,1628820838.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:13:59.156Z,1628820839.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:13:59.969Z,1628820839.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,01531,186,80,80,64,FF
2021-08-13T02:13:59.970Z,1628820839.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:13:59.996Z,1628820839.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021400.26*5D

2021-08-13T02:14:00.440Z,1628820840.440 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T02:14:00.440Z,1628820840.440 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T02:14:00.440Z,1628820840.440 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T02:14:00.460Z,1628820840.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.999969 m, bearing: 244.839305 deg, deltaT: 4.924493 s, approachRate: -0.499548 m/s, LOS rate: 0.112146 deg/s, posRepo size: 4
2021-08-13T02:14:00.462Z,1628820840.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.999969 m,
      bearing: 244.839305 deg,
      approachRate: -0.499548 m/s,
      LOS rate: 0.112146 deg/s,
      cmd update: 0.336438 deg/s,
      cmd heading: 248.345747 deg,
      new cmd heading: 248.847185 deg.

2021-08-13T02:14:00.588Z,1628820840.588 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T02:14:00.844Z,1628820840.844 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T02:14:01.755Z,1628820841.755 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T02:14:01.755Z,1628820841.755 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T02:14:02.795Z,1628820842.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:03.177Z,1628820843.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:03.177Z,1628820843.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:03.177Z,1628820843.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:03.178Z,1628820843.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:03.577Z,1628820843.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,01531,186,80,80,64,FF
2021-08-13T02:14:03.577Z,1628820843.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:03.578Z,1628820843.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:03.579Z,1628820843.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:04.052Z,1628820844.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:04.858Z,1628820844.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,01532,186,80,80,65,FF
2021-08-13T02:14:04.859Z,1628820844.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:04.863Z,1628820844.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021405.10*5D

2021-08-13T02:14:05.305Z,1628820845.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.059998 m, bearing: 248.305981 deg, deltaT: 4.865604 s, approachRate: 0.012337 m/s, LOS rate: 0.712486 deg/s, posRepo size: 4
2021-08-13T02:14:05.307Z,1628820845.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.059998 m,
      bearing: 248.305981 deg,
      approachRate: 0.012337 m/s,
      LOS rate: 0.712486 deg/s,
      cmd update: 2.137459 deg/s,
      cmd heading: 249.982629 deg,
      new cmd heading: 250.113112 deg.

2021-08-13T02:14:07.741Z,1628820847.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:08.097Z,1628820848.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:08.097Z,1628820848.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:08.097Z,1628820848.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:08.098Z,1628820848.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:08.493Z,1628820848.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,01532,186,80,80,65,FF
2021-08-13T02:14:08.493Z,1628820848.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:08.493Z,1628820848.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:08.495Z,1628820848.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:08.908Z,1628820848.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:09.749Z,1628820849.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,01513,184,80,80,75,FF
2021-08-13T02:14:09.750Z,1628820849.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:09.772Z,1628820849.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021410.02*5A

2021-08-13T02:14:10.151Z,1628820850.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.199982 m, bearing: 245.066477 deg, deltaT: 4.933809 s, approachRate: -0.376994 m/s, LOS rate: -0.656593 deg/s, posRepo size: 4
2021-08-13T02:14:10.173Z,1628820850.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.199982 m,
      bearing: 245.066477 deg,
      approachRate: -0.376994 m/s,
      LOS rate: -0.656593 deg/s,
      cmd update: -1.969779 deg/s,
      cmd heading: 260.521831 deg,
      new cmd heading: 261.171183 deg.

2021-08-13T02:14:12.575Z,1628820852.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:12.941Z,1628820852.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:12.941Z,1628820852.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:12.941Z,1628820852.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:12.942Z,1628820852.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:13.349Z,1628820853.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,01513,184,80,80,75,FF
2021-08-13T02:14:13.349Z,1628820853.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:13.349Z,1628820853.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:13.351Z,1628820853.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:13.797Z,1628820853.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:14.589Z,1628820854.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BA,000,014F0,186,80,80,5E,FF
2021-08-13T02:14:14.589Z,1628820854.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:14.592Z,1628820854.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021414.87*53

2021-08-13T02:14:14.989Z,1628820854.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.099976 m, bearing: 237.962452 deg, deltaT: 4.787421 s, approachRate: -0.438651 m/s, LOS rate: -1.483894 deg/s, posRepo size: 4
2021-08-13T02:14:14.991Z,1628820854.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.099976 m,
      bearing: 237.962452 deg,
      approachRate: -0.438651 m/s,
      LOS rate: -1.483894 deg/s,
      cmd update: -4.451682 deg/s,
      cmd heading: 251.076541 deg,
      new cmd heading: 250.395943 deg.

2021-08-13T02:14:17.419Z,1628820857.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:17.809Z,1628820857.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:17.809Z,1628820857.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:17.809Z,1628820857.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:17.810Z,1628820857.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:18.241Z,1628820858.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BA,000,014F0,186,80,80,5E,FF
2021-08-13T02:14:18.241Z,1628820858.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:18.241Z,1628820858.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:18.244Z,1628820858.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:18.624Z,1628820858.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:19.443Z,1628820859.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,014CB,186,80,80,77,FF
2021-08-13T02:14:19.445Z,1628820859.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:19.448Z,1628820859.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021419.77*51

2021-08-13T02:14:19.921Z,1628820859.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.879974 m, bearing: 242.142446 deg, deltaT: 4.848865 s, approachRate: -0.457839 m/s, LOS rate: 0.862056 deg/s, posRepo size: 4
2021-08-13T02:14:19.923Z,1628820859.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.879974 m,
      bearing: 242.142446 deg,
      approachRate: -0.457839 m/s,
      LOS rate: 0.862056 deg/s,
      cmd update: 2.586169 deg/s,
      cmd heading: 229.510018 deg,
      new cmd heading: 227.577743 deg.

2021-08-13T02:14:22.299Z,1628820862.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:22.665Z,1628820862.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:22.665Z,1628820862.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:22.665Z,1628820862.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:22.666Z,1628820862.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:23.069Z,1628820863.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,014CB,186,80,80,77,FF
2021-08-13T02:14:23.069Z,1628820863.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:23.069Z,1628820863.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:23.071Z,1628820863.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:23.485Z,1628820863.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:24.321Z,1628820864.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,01488,184,80,80,9A,FF
2021-08-13T02:14:24.321Z,1628820864.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:24.324Z,1628820864.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021424.59*53

2021-08-13T02:14:24.736Z,1628820864.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.860016 m, bearing: 240.591583 deg, deltaT: 4.887132 s, approachRate: -0.822560 m/s, LOS rate: -0.317336 deg/s, posRepo size: 4
2021-08-13T02:14:24.738Z,1628820864.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.860016 m,
      bearing: 240.591583 deg,
      approachRate: -0.822560 m/s,
      LOS rate: -0.317336 deg/s,
      cmd update: -0.952008 deg/s,
      cmd heading: 242.138884 deg,
      new cmd heading: 243.082797 deg.

2021-08-13T02:14:27.138Z,1628820867.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:27.529Z,1628820867.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:27.529Z,1628820867.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:27.529Z,1628820867.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:27.530Z,1628820867.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:27.921Z,1628820867.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,01488,184,80,80,9A,FF
2021-08-13T02:14:27.921Z,1628820867.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:27.921Z,1628820867.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:27.923Z,1628820867.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:28.328Z,1628820868.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:29.157Z,1628820869.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,01471,186,80,80,55,FF
2021-08-13T02:14:29.157Z,1628820869.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:29.160Z,1628820869.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021429.45*53

2021-08-13T02:14:29.562Z,1628820869.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.479980 m, bearing: 240.335997 deg, deltaT: 4.821361 s, approachRate: -0.286234 m/s, LOS rate: -0.053011 deg/s, posRepo size: 4
2021-08-13T02:14:29.564Z,1628820869.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.479980 m,
      bearing: 240.335997 deg,
      approachRate: -0.286234 m/s,
      LOS rate: -0.053011 deg/s,
      cmd update: -0.159033 deg/s,
      cmd heading: 237.545194 deg,
      new cmd heading: 237.196484 deg.

2021-08-13T02:14:32.015Z,1628820872.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:32.365Z,1628820872.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:32.365Z,1628820872.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:32.365Z,1628820872.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:32.366Z,1628820872.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:32.765Z,1628820872.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,01471,186,80,80,55,FF
2021-08-13T02:14:32.765Z,1628820872.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:32.765Z,1628820872.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:32.767Z,1628820872.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:33.196Z,1628820873.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:34.001Z,1628820874.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0143A,187,80,80,A0,FF
2021-08-13T02:14:34.001Z,1628820874.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:34.004Z,1628820874.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021434.29*55

2021-08-13T02:14:34.432Z,1628820874.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.179993 m, bearing: 247.206731 deg, deltaT: 4.894052 s, approachRate: -0.674285 m/s, LOS rate: 1.403895 deg/s, posRepo size: 4
2021-08-13T02:14:34.434Z,1628820874.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.179993 m,
      bearing: 247.206731 deg,
      approachRate: -0.674285 m/s,
      LOS rate: 1.403895 deg/s,
      cmd update: 4.211684 deg/s,
      cmd heading: 236.766828 deg,
      new cmd heading: 236.712522 deg.

2021-08-13T02:14:36.851Z,1628820876.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:37.221Z,1628820877.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:37.221Z,1628820877.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:37.221Z,1628820877.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:37.222Z,1628820877.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:37.622Z,1628820877.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0143A,187,80,80,A0,FF
2021-08-13T02:14:37.622Z,1628820877.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:37.622Z,1628820877.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:37.624Z,1628820877.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:38.033Z,1628820878.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:38.867Z,1628820878.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,01427,186,80,80,64,FF
2021-08-13T02:14:38.867Z,1628820878.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:38.872Z,1628820878.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021439.15*57

2021-08-13T02:14:39.297Z,1628820879.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.039978 m, bearing: 246.572452 deg, deltaT: 4.798417 s, approachRate: -0.237581 m/s, LOS rate: -0.132185 deg/s, posRepo size: 4
2021-08-13T02:14:39.299Z,1628820879.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.039978 m,
      bearing: 246.572452 deg,
      approachRate: -0.237581 m/s,
      LOS rate: -0.132185 deg/s,
      cmd update: -0.396555 deg/s,
      cmd heading: 256.991233 deg,
      new cmd heading: 258.675624 deg.

2021-08-13T02:14:41.709Z,1628820881.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:42.077Z,1628820882.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:42.077Z,1628820882.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:42.077Z,1628820882.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:42.078Z,1628820882.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:42.461Z,1628820882.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,01427,186,80,80,64,FF
2021-08-13T02:14:42.461Z,1628820882.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:42.461Z,1628820882.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:42.463Z,1628820882.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:42.891Z,1628820882.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:43.702Z,1628820883.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,013F2,186,80,80,7C,FF
2021-08-13T02:14:43.703Z,1628820883.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:43.734Z,1628820883.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021443.98*5F

2021-08-13T02:14:44.151Z,1628820884.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.859985 m, bearing: 246.223593 deg, deltaT: 4.914898 s, approachRate: -0.647011 m/s, LOS rate: -0.070980 deg/s, posRepo size: 4
2021-08-13T02:14:44.162Z,1628820884.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.859985 m,
      bearing: 246.223593 deg,
      approachRate: -0.647011 m/s,
      LOS rate: -0.070980 deg/s,
      cmd update: -0.212940 deg/s,
      cmd heading: 255.045284 deg,
      new cmd heading: 254.905692 deg.

2021-08-13T02:14:46.565Z,1628820886.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:46.961Z,1628820886.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:46.961Z,1628820886.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:46.961Z,1628820886.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:46.962Z,1628820886.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:47.345Z,1628820887.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,013F2,186,80,80,7C,FF
2021-08-13T02:14:47.345Z,1628820887.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:47.345Z,1628820887.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:47.347Z,1628820887.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:47.809Z,1628820887.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:48.589Z,1628820888.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,108,000,013DD,186,80,80,4C,FF
2021-08-13T02:14:48.589Z,1628820888.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:48.593Z,1628820888.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021448.87*5A

2021-08-13T02:14:49.007Z,1628820889.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.600006 m, bearing: 247.273557 deg, deltaT: 4.898200 s, approachRate: -0.257233 m/s, LOS rate: 0.214357 deg/s, posRepo size: 4
2021-08-13T02:14:49.010Z,1628820889.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.600006 m,
      bearing: 247.273557 deg,
      approachRate: -0.257233 m/s,
      LOS rate: 0.214357 deg/s,
      cmd update: 0.643071 deg/s,
      cmd heading: 254.001389 deg,
      new cmd heading: 253.936279 deg.

2021-08-13T02:14:49.818Z,1628820889.818 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:14:50.601Z,1628820890.601 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:14:51.468Z,1628820891.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:51.825Z,1628820891.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:51.826Z,1628820891.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:51.826Z,1628820891.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:51.827Z,1628820891.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:52.209Z,1628820892.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
108,000,013DD,186,80,80,4C,FF
2021-08-13T02:14:52.209Z,1628820892.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:52.209Z,1628820892.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:52.211Z,1628820892.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:52.607Z,1628820892.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:53.451Z,1628820893.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021453.73*5B

2021-08-13T02:14:54.271Z,1628820894.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:55.467Z,1628820895.467 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:14:55.866Z,1628820895.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,4C,FF
2021-08-13T02:14:55.867Z,1628820895.867 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,4C,FF
2021-08-13T02:14:55.867Z,1628820895.867 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:14:57.078Z,1628820897.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:14:57.470Z,1628820897.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:14:57.470Z,1628820897.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:14:57.470Z,1628820897.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:14:57.471Z,1628820897.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:14:57.885Z,1628820897.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,4C,FF
2021-08-13T02:14:57.885Z,1628820897.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:14:57.885Z,1628820897.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:14:57.887Z,1628820897.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:14:58.318Z,1628820898.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:14:59.138Z,1628820899.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,01382,186,80,80,50,FF
2021-08-13T02:14:59.139Z,1628820899.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:14:59.144Z,1628820899.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021459.41*50

2021-08-13T02:14:59.540Z,1628820899.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.139984 m, bearing: 245.278759 deg, deltaT: 10.469856 s, approachRate: -0.521499 m/s, LOS rate: -0.190528 deg/s, posRepo size: 4
2021-08-13T02:14:59.542Z,1628820899.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.139984 m,
      bearing: 245.278759 deg,
      approachRate: -0.521499 m/s,
      LOS rate: -0.190528 deg/s,
      cmd update: -0.571583 deg/s,
      cmd heading: 260.735712 deg,
      new cmd heading: 260.970919 deg.

2021-08-13T02:15:01.991Z,1628820901.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:02.333Z,1628820902.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:02.333Z,1628820902.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:02.333Z,1628820902.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:02.334Z,1628820902.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:02.746Z,1628820902.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,01382,186,80,80,50,FF
2021-08-13T02:15:02.746Z,1628820902.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:02.746Z,1628820902.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:02.748Z,1628820902.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:03.225Z,1628820903.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:04.018Z,1628820904.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11A,000,0136D,186,80,80,73,FF
2021-08-13T02:15:04.019Z,1628820904.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:04.024Z,1628820904.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021504.27*59

2021-08-13T02:15:04.481Z,1628820904.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.879974 m, bearing: 242.652306 deg, deltaT: 4.937814 s, approachRate: -0.255176 m/s, LOS rate: -0.531906 deg/s, posRepo size: 4
2021-08-13T02:15:04.483Z,1628820904.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.879974 m,
      bearing: 242.652306 deg,
      approachRate: -0.255176 m/s,
      LOS rate: -0.531906 deg/s,
      cmd update: -1.595719 deg/s,
      cmd heading: 257.917483 deg,
      new cmd heading: 257.702174 deg.

2021-08-13T02:15:06.909Z,1628820906.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:07.250Z,1628820907.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:07.250Z,1628820907.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:07.250Z,1628820907.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:07.250Z,1628820907.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:07.641Z,1628820907.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11A,000,0136D,186,80,80,73,FF
2021-08-13T02:15:07.641Z,1628820907.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:07.641Z,1628820907.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:07.643Z,1628820907.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:08.063Z,1628820908.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:08.895Z,1628820908.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,01341,186,80,80,91,FF
2021-08-13T02:15:08.895Z,1628820908.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:08.900Z,1628820908.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021509.17*57

2021-08-13T02:15:09.441Z,1628820909.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.239990 m, bearing: 241.437598 deg, deltaT: 4.850557 s, approachRate: -0.544264 m/s, LOS rate: -0.250427 deg/s, posRepo size: 4
2021-08-13T02:15:09.443Z,1628820909.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.239990 m,
      bearing: 241.437598 deg,
      approachRate: -0.544264 m/s,
      LOS rate: -0.250427 deg/s,
      cmd update: -0.751280 deg/s,
      cmd heading: 250.187525 deg,
      new cmd heading: 249.402143 deg.

2021-08-13T02:15:11.904Z,1628820911.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:12.229Z,1628820912.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:12.229Z,1628820912.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:12.229Z,1628820912.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:12.230Z,1628820912.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:12.621Z,1628820912.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,01341,186,80,80,91,FF
2021-08-13T02:15:12.621Z,1628820912.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:12.622Z,1628820912.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:12.623Z,1628820912.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:13.032Z,1628820913.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:13.862Z,1628820913.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,01312,184,80,80,B1,FF
2021-08-13T02:15:13.863Z,1628820913.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:13.868Z,1628820913.868 [Micromodem](INFO): Nmea in: $SNTTA,0.455217,0.454717,,,021514.15*5D

2021-08-13T02:15:14.275Z,1628820914.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.419998 m, bearing: 245.682697 deg, deltaT: 4.999893 s, approachRate: -0.564011 m/s, LOS rate: 0.849038 deg/s, posRepo size: 4
2021-08-13T02:15:14.278Z,1628820914.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.419998 m,
      bearing: 245.682697 deg,
      approachRate: -0.564011 m/s,
      LOS rate: 0.849038 deg/s,
      cmd update: 2.547114 deg/s,
      cmd heading: 246.419744 deg,
      new cmd heading: 246.185471 deg.

2021-08-13T02:15:16.679Z,1628820916.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:17.078Z,1628820917.078 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:17.078Z,1628820917.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:17.078Z,1628820917.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:17.079Z,1628820917.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:17.466Z,1628820917.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,01312,184,80,80,B1,FF
2021-08-13T02:15:17.466Z,1628820917.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:17.466Z,1628820917.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:17.468Z,1628820917.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:17.888Z,1628820917.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:18.274Z,1628820918.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,005B9,184,80,80,55,FF
2021-08-13T02:15:18.274Z,1628820918.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:18.721Z,1628820918.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021518.99*51

2021-08-13T02:15:18.751Z,1628820918.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 246.081498 deg, deltaT: 4.326895 s, approachRate: -47.382706 m/s, LOS rate: 0.092168 deg/s, posRepo size: 4
2021-08-13T02:15:18.753Z,1628820918.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.400005 m,
      bearing: 246.081498 deg,
      approachRate: -47.382706 m/s,
      LOS rate: 0.092168 deg/s,
      cmd update: 0.276504 deg/s,
      cmd heading: 257.441351 deg,
      new cmd heading: 258.612535 deg.

2021-08-13T02:15:21.138Z,1628820921.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:21.523Z,1628820921.523 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:21.523Z,1628820921.523 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:21.523Z,1628820921.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:21.524Z,1628820921.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:21.939Z,1628820921.939 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,005B9,184,80,80,55,FF
2021-08-13T02:15:21.939Z,1628820921.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:21.939Z,1628820921.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:21.941Z,1628820921.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:22.392Z,1628820922.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:22.803Z,1628820922.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00911,186,80,80,3B,FF
2021-08-13T02:15:22.803Z,1628820922.803 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:23.237Z,1628820923.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021523.46*5B

2021-08-13T02:15:23.264Z,1628820923.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 234.115853 deg, deltaT: 4.606335 s, approachRate: 11.149861 m/s, LOS rate: -2.597650 deg/s, posRepo size: 4
2021-08-13T02:15:23.266Z,1628820923.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 234.115853 deg,
      approachRate: 11.149861 m/s,
      LOS rate: -2.597650 deg/s,
      cmd update: -7.792949 deg/s,
      cmd heading: 258.712747 deg,
      new cmd heading: 258.814125 deg.

2021-08-13T02:15:25.660Z,1628820925.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:26.049Z,1628820926.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:26.049Z,1628820926.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:26.049Z,1628820926.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:26.050Z,1628820926.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:26.441Z,1628820926.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00911,186,80,80,3B,FF
2021-08-13T02:15:26.441Z,1628820926.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:26.441Z,1628820926.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:26.443Z,1628820926.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:26.896Z,1628820926.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:27.693Z,1628820927.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,012B3,186,80,80,93,FF
2021-08-13T02:15:27.693Z,1628820927.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:27.696Z,1628820927.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021527.96*52

2021-08-13T02:15:28.166Z,1628820928.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.719986 m, bearing: 238.811964 deg, deltaT: 4.901038 s, approachRate: 30.189522 m/s, LOS rate: 0.958187 deg/s, posRepo size: 4
2021-08-13T02:15:28.192Z,1628820928.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.719986 m,
      bearing: 238.811964 deg,
      approachRate: 30.189522 m/s,
      LOS rate: 0.958187 deg/s,
      cmd update: 2.874561 deg/s,
      cmd heading: 220.486565 deg,
      new cmd heading: 217.589646 deg.

2021-08-13T02:15:30.610Z,1628820930.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:30.901Z,1628820930.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:30.901Z,1628820930.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:30.901Z,1628820930.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:30.902Z,1628820930.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:31.489Z,1628820931.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,012B3,186,80,80,93,FF
2021-08-13T02:15:31.490Z,1628820931.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:31.490Z,1628820931.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:31.500Z,1628820931.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:31.976Z,1628820931.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:32.767Z,1628820932.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0129F,183,80,80,9B,FF
2021-08-13T02:15:32.768Z,1628820932.768 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:32.771Z,1628820932.771 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021533.02*5A

2021-08-13T02:15:33.235Z,1628820933.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.519989 m, bearing: 241.566360 deg, deltaT: 5.040677 s, approachRate: -0.238063 m/s, LOS rate: 0.546434 deg/s, posRepo size: 4
2021-08-13T02:15:33.241Z,1628820933.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.519989 m,
      bearing: 241.566360 deg,
      approachRate: -0.238063 m/s,
      LOS rate: 0.546434 deg/s,
      cmd update: 1.639302 deg/s,
      cmd heading: 234.861519 deg,
      new cmd heading: 236.125584 deg.

2021-08-13T02:15:35.642Z,1628820935.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:35.997Z,1628820935.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:35.997Z,1628820935.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:35.997Z,1628820935.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:35.998Z,1628820935.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:36.395Z,1628820936.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0129F,183,80,80,9B,FF
2021-08-13T02:15:36.395Z,1628820936.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:36.395Z,1628820936.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:36.397Z,1628820936.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:36.802Z,1628820936.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:37.637Z,1628820937.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,0127D,186,80,80,6F,FF
2021-08-13T02:15:37.638Z,1628820937.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:37.640Z,1628820937.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021537.92*57

2021-08-13T02:15:38.130Z,1628820938.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.479980 m, bearing: 245.380775 deg, deltaT: 4.931224 s, approachRate: -0.413692 m/s, LOS rate: 0.773523 deg/s, posRepo size: 4
2021-08-13T02:15:38.138Z,1628820938.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.479980 m,
      bearing: 245.380775 deg,
      approachRate: -0.413692 m/s,
      LOS rate: 0.773523 deg/s,
      cmd update: 2.320569 deg/s,
      cmd heading: 242.972753 deg,
      new cmd heading: 243.608015 deg.

2021-08-13T02:15:40.514Z,1628820940.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:40.862Z,1628820940.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:40.862Z,1628820940.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:40.862Z,1628820940.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:40.863Z,1628820940.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:41.249Z,1628820941.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,0127D,186,80,80,6F,FF
2021-08-13T02:15:41.249Z,1628820941.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:41.250Z,1628820941.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:41.251Z,1628820941.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:41.665Z,1628820941.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:42.485Z,1628820942.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,01240,186,80,80,5C,FF
2021-08-13T02:15:42.485Z,1628820942.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:42.488Z,1628820942.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021542.77*5E

2021-08-13T02:15:42.939Z,1628820942.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 240.703625 deg, deltaT: 4.789227 s, approachRate: -0.764210 m/s, LOS rate: -0.976598 deg/s, posRepo size: 4
2021-08-13T02:15:42.941Z,1628820942.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 240.703625 deg,
      approachRate: -0.764210 m/s,
      LOS rate: -0.976598 deg/s,
      cmd update: -2.929794 deg/s,
      cmd heading: 254.140061 deg,
      new cmd heading: 255.031275 deg.

2021-08-13T02:15:45.328Z,1628820945.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:45.713Z,1628820945.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:45.714Z,1628820945.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:45.714Z,1628820945.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:45.715Z,1628820945.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:46.113Z,1628820946.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,01240,186,80,80,5C,FF
2021-08-13T02:15:46.114Z,1628820946.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:46.114Z,1628820946.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:46.115Z,1628820946.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:46.525Z,1628820946.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:47.327Z,1628820947.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,0121F,186,80,80,AF,FF
2021-08-13T02:15:47.328Z,1628820947.328 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:47.334Z,1628820947.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021547.66*5B

2021-08-13T02:15:47.805Z,1628820947.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.839996 m, bearing: 245.112567 deg, deltaT: 4.858072 s, approachRate: -0.407571 m/s, LOS rate: 0.907550 deg/s, posRepo size: 4
2021-08-13T02:15:47.807Z,1628820947.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.839996 m,
      bearing: 245.112567 deg,
      approachRate: -0.407571 m/s,
      LOS rate: 0.907550 deg/s,
      cmd update: 2.722649 deg/s,
      cmd heading: 239.919566 deg,
      new cmd heading: 238.760891 deg.

2021-08-13T02:15:50.163Z,1628820950.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:50.553Z,1628820950.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:50.553Z,1628820950.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:50.553Z,1628820950.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:50.554Z,1628820950.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:50.951Z,1628820950.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,0121F,186,80,80,AF,FF
2021-08-13T02:15:50.951Z,1628820950.951 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:50.951Z,1628820950.951 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:50.978Z,1628820950.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:51.359Z,1628820951.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:52.185Z,1628820952.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,011FC,186,80,80,B5,FF
2021-08-13T02:15:52.185Z,1628820952.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:52.188Z,1628820952.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021552.50*5A

2021-08-13T02:15:52.606Z,1628820952.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.739975 m, bearing: 244.037495 deg, deltaT: 4.785955 s, approachRate: -0.438788 m/s, LOS rate: -0.224631 deg/s, posRepo size: 4
2021-08-13T02:15:52.608Z,1628820952.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.739975 m,
      bearing: 244.037495 deg,
      approachRate: -0.438788 m/s,
      LOS rate: -0.224631 deg/s,
      cmd update: -0.673892 deg/s,
      cmd heading: 252.973004 deg,
      new cmd heading: 254.069943 deg.

2021-08-13T02:15:55.023Z,1628820955.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:55.404Z,1628820955.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:55.404Z,1628820955.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:55.404Z,1628820955.404 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:55.405Z,1628820955.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:15:55.813Z,1628820955.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,011FC,186,80,80,B5,FF
2021-08-13T02:15:55.813Z,1628820955.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:15:55.814Z,1628820955.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:15:55.815Z,1628820955.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:15:56.325Z,1628820956.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:15:56.722Z,1628820956.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,011E3,186,80,80,B5,FF
2021-08-13T02:15:56.722Z,1628820956.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:15:57.153Z,1628820957.153 [Micromodem](INFO): Nmea in: $SNTTA,0.160377,,,,021557.34*47

2021-08-13T02:15:57.192Z,1628820957.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.240005 m, bearing: 243.093782 deg, deltaT: 4.560281 s, approachRate: -0.328920 m/s, LOS rate: -0.206942 deg/s, posRepo size: 4
2021-08-13T02:15:57.194Z,1628820957.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.240005 m,
      bearing: 243.093782 deg,
      approachRate: -0.328920 m/s,
      LOS rate: -0.206942 deg/s,
      cmd update: -0.620826 deg/s,
      cmd heading: 249.902622 deg,
      new cmd heading: 249.622020 deg.

2021-08-13T02:15:57.975Z,1628820957.975 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:15:59.598Z,1628820959.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:15:59.957Z,1628820959.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:15:59.957Z,1628820959.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:15:59.957Z,1628820959.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:15:59.958Z,1628820959.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:00.373Z,1628820960.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,011E3,186,80,80,B5,FF
2021-08-13T02:16:00.373Z,1628820960.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:00.374Z,1628820960.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:00.375Z,1628820960.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:00.775Z,1628820960.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:01.173Z,1628820961.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,006B1,186,80,80,92,FF
2021-08-13T02:16:01.174Z,1628820961.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:01.613Z,1628820961.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021601.90*53

2021-08-13T02:16:01.635Z,1628820961.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 244.322232 deg, deltaT: 4.496438 s, approachRate: -38.243603 m/s, LOS rate: 0.273205 deg/s, posRepo size: 4
2021-08-13T02:16:01.638Z,1628820961.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 244.322232 deg,
      approachRate: -38.243603 m/s,
      LOS rate: 0.273205 deg/s,
      cmd update: 0.819616 deg/s,
      cmd heading: 247.108648 deg,
      new cmd heading: 246.875487 deg.

2021-08-13T02:16:04.068Z,1628820964.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:04.413Z,1628820964.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:04.413Z,1628820964.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:04.413Z,1628820964.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:04.414Z,1628820964.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:04.809Z,1628820964.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,006B1,186,80,80,92,FF
2021-08-13T02:16:04.809Z,1628820964.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:04.810Z,1628820964.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:04.832Z,1628820964.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:05.265Z,1628820965.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:06.094Z,1628820966.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,011AB,186,80,80,C2,FF
2021-08-13T02:16:06.094Z,1628820966.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:06.097Z,1628820966.097 [Micromodem](INFO): Nmea in: $SNTTA,0.158181,,,,021606.36*42

2021-08-13T02:16:06.509Z,1628820966.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.880005 m, bearing: 248.784122 deg, deltaT: 4.939188 s, approachRate: 34.135166 m/s, LOS rate: 0.903365 deg/s, posRepo size: 4
2021-08-13T02:16:06.510Z,1628820966.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.880005 m,
      bearing: 248.784122 deg,
      approachRate: 34.135166 m/s,
      LOS rate: 0.903365 deg/s,
      cmd update: 2.710095 deg/s,
      cmd heading: 251.153533 deg,
      new cmd heading: 251.410239 deg.

2021-08-13T02:16:08.937Z,1628820968.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:09.309Z,1628820969.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:09.309Z,1628820969.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:09.309Z,1628820969.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:09.310Z,1628820969.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:09.745Z,1628820969.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,011AB,186,80,80,C2,FF
2021-08-13T02:16:09.745Z,1628820969.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:09.746Z,1628820969.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:09.757Z,1628820969.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:10.266Z,1628820970.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:10.661Z,1628820970.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00812,186,80,80,A0,FF
2021-08-13T02:16:10.662Z,1628820970.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:11.065Z,1628820971.065 [Micromodem](INFO): Nmea in: $SNTTA,0.057415,,,,021611.28*4D

2021-08-13T02:16:11.088Z,1628820971.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.459999 m, bearing: 243.285191 deg, deltaT: 4.560887 s, approachRate: -32.322662 m/s, LOS rate: -1.205671 deg/s, posRepo size: 4
2021-08-13T02:16:11.090Z,1628820971.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 243.285191 deg,
      approachRate: -32.322662 m/s,
      LOS rate: -1.205671 deg/s,
      cmd update: -3.617014 deg/s,
      cmd heading: 263.525386 deg,
      new cmd heading: 264.412867 deg.

2021-08-13T02:16:13.495Z,1628820973.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:13.897Z,1628820973.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:13.897Z,1628820973.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:13.897Z,1628820973.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:13.898Z,1628820973.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:14.285Z,1628820974.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,00812,186,80,80,A0,FF
2021-08-13T02:16:14.285Z,1628820974.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:14.285Z,1628820974.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:14.287Z,1628820974.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:14.698Z,1628820974.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:15.537Z,1628820975.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,01158,187,80,80,70,FF
2021-08-13T02:16:15.538Z,1628820975.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:15.540Z,1628820975.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021615.81*56

2021-08-13T02:16:15.978Z,1628820975.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.899979 m, bearing: 240.168548 deg, deltaT: 4.801075 s, approachRate: 29.668350 m/s, LOS rate: -0.649155 deg/s, posRepo size: 4
2021-08-13T02:16:15.981Z,1628820975.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.899979 m,
      bearing: 240.168548 deg,
      approachRate: 29.668350 m/s,
      LOS rate: -0.649155 deg/s,
      cmd update: -1.947465 deg/s,
      cmd heading: 246.176662 deg,
      new cmd heading: 244.650499 deg.

2021-08-13T02:16:18.351Z,1628820978.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:18.729Z,1628820978.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:18.729Z,1628820978.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:18.729Z,1628820978.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:18.730Z,1628820978.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:19.133Z,1628820979.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,01158,187,80,80,70,FF
2021-08-13T02:16:19.133Z,1628820979.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:19.133Z,1628820979.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:19.135Z,1628820979.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:19.541Z,1628820979.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:20.373Z,1628820980.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,0112B,186,80,80,A8,FF
2021-08-13T02:16:20.373Z,1628820980.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:20.377Z,1628820980.377 [Micromodem](INFO): Nmea in: $SNTTA,,0.240237,,,021620.66*47

2021-08-13T02:16:20.800Z,1628820980.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.199982 m, bearing: 247.996874 deg, deltaT: 4.862456 s, approachRate: -0.555274 m/s, LOS rate: 1.609953 deg/s, posRepo size: 4
2021-08-13T02:16:20.802Z,1628820980.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.199982 m,
      bearing: 247.996874 deg,
      approachRate: -0.555274 m/s,
      LOS rate: 1.609953 deg/s,
      cmd update: 4.829859 deg/s,
      cmd heading: 236.699302 deg,
      new cmd heading: 235.965330 deg.

2021-08-13T02:16:23.210Z,1628820983.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:23.577Z,1628820983.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:23.577Z,1628820983.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:23.577Z,1628820983.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:23.578Z,1628820983.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:23.985Z,1628820983.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,0112B,186,80,80,A8,FF
2021-08-13T02:16:23.985Z,1628820983.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:23.985Z,1628820983.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:23.987Z,1628820983.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:24.389Z,1628820984.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:25.225Z,1628820985.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,01101,183,80,80,97,FF
2021-08-13T02:16:25.225Z,1628820985.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:25.228Z,1628820985.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021625.51*58

2021-08-13T02:16:25.639Z,1628820985.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.679977 m, bearing: 246.362546 deg, deltaT: 4.872733 s, approachRate: -0.517164 m/s, LOS rate: -0.335403 deg/s, posRepo size: 4
2021-08-13T02:16:25.642Z,1628820985.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.679977 m,
      bearing: 246.362546 deg,
      approachRate: -0.517164 m/s,
      LOS rate: -0.335403 deg/s,
      cmd update: -1.006208 deg/s,
      cmd heading: 260.195567 deg,
      new cmd heading: 261.894020 deg.

2021-08-13T02:16:28.104Z,1628820988.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:28.425Z,1628820988.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:28.425Z,1628820988.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:28.425Z,1628820988.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:28.426Z,1628820988.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:28.837Z,1628820988.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,01101,183,80,80,97,FF
2021-08-13T02:16:28.837Z,1628820988.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:28.838Z,1628820988.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:28.845Z,1628820988.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:28.917Z,1628820988.917 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:16:29.244Z,1628820989.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:29.784Z,1628820989.783 [CTD_Seabird](ERROR): Failed to parse device response: 9.39.35
2021-08-13T02:16:30.041Z,1628820990.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,010CD,185,80,80,A5,FF
2021-08-13T02:16:30.041Z,1628820990.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:30.454Z,1628820990.454 [Micromodem](INFO): Nmea in: $SNTTA,,0.311816,,,021630.43*4D

2021-08-13T02:16:30.514Z,1628820990.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.559998 m, bearing: 242.976084 deg, deltaT: 4.882428 s, approachRate: -0.639022 m/s, LOS rate: -0.693602 deg/s, posRepo size: 4
2021-08-13T02:16:30.518Z,1628820990.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.559998 m,
      bearing: 242.976084 deg,
      approachRate: -0.639022 m/s,
      LOS rate: -0.693602 deg/s,
      cmd update: -2.080806 deg/s,
      cmd heading: 255.279118 deg,
      new cmd heading: 254.971523 deg.

2021-08-13T02:16:32.955Z,1628820992.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:33.277Z,1628820993.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:33.277Z,1628820993.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:33.277Z,1628820993.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:33.278Z,1628820993.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:33.685Z,1628820993.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,010CD,185,80,80,A5,FF
2021-08-13T02:16:33.685Z,1628820993.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:33.685Z,1628820993.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:33.690Z,1628820993.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:34.092Z,1628820994.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:34.929Z,1628820994.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,0109F,188,80,80,A7,FF
2021-08-13T02:16:34.929Z,1628820994.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:34.933Z,1628820994.933 [Micromodem](INFO): Nmea in: $SNTTA,0.147470,,,,021635.21*41

2021-08-13T02:16:35.323Z,1628820995.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.800003 m, bearing: 238.561077 deg, deltaT: 4.780692 s, approachRate: -0.577321 m/s, LOS rate: -0.923508 deg/s, posRepo size: 4
2021-08-13T02:16:35.326Z,1628820995.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.800003 m,
      bearing: 238.561077 deg,
      approachRate: -0.577321 m/s,
      LOS rate: -0.923508 deg/s,
      cmd update: -2.770524 deg/s,
      cmd heading: 245.321750 deg,
      new cmd heading: 244.563853 deg.

2021-08-13T02:16:37.793Z,1628820997.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:38.121Z,1628820998.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:38.121Z,1628820998.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:38.121Z,1628820998.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:38.122Z,1628820998.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:38.533Z,1628820998.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,0109F,188,80,80,A7,FF
2021-08-13T02:16:38.533Z,1628820998.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:38.533Z,1628820998.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:38.535Z,1628820998.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:38.950Z,1628820998.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:39.792Z,1628820999.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,0106E,186,80,80,A6,FF
2021-08-13T02:16:39.793Z,1628820999.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:39.795Z,1628820999.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021640.06*59

2021-08-13T02:16:40.241Z,1628821000.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.859985 m, bearing: 240.298732 deg, deltaT: 4.982782 s, approachRate: -0.590035 m/s, LOS rate: 0.348732 deg/s, posRepo size: 4
2021-08-13T02:16:40.243Z,1628821000.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.859985 m,
      bearing: 240.298732 deg,
      approachRate: -0.590035 m/s,
      LOS rate: 0.348732 deg/s,
      cmd update: 1.046196 deg/s,
      cmd heading: 231.528242 deg,
      new cmd heading: 230.690735 deg.

2021-08-13T02:16:41.236Z,1628821001.236 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T02:16:41.237Z,1628821001.237 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243382
2021-08-13T02:16:41.471Z,1628821001.471 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T02:16:41.471Z,1628821001.471 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T02:16:41.471Z,1628821001.471 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T02:16:41.471Z,1628821001.471 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:16:41.471Z,1628821001.471 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T02:16:42.092Z,1628821002.092 [Micromodem](INFO): Outgoing frame #1, 59 bytes: B6AD15613C0000005D00000400260000000000000000151D80030C5669C08C79989BD8EC8E29A26A431BBB61F226B908BA6F4C214A6A69DC1DE000
2021-08-13T02:16:42.093Z,1628821002.093 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T02:16:42.474Z,1628821002.474 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T02:16:42.513Z,1628821002.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:42.913Z,1628821002.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:42.913Z,1628821002.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:42.913Z,1628821002.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:42.914Z,1628821002.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:42.921Z,1628821002.921 [Micromodem](INFO): Nmea in: $CADRQ,021643,1,10,0,64,1*74

2021-08-13T02:16:42.923Z,1628821002.923 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15613C0000005D00000400260000000000000000151D80030C5669C08C79989BD8EC8E29A26A431BBB61F226B908BA6F4C214A6A69DC1DE000*36

2021-08-13T02:16:43.285Z,1628821003.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,0106E,186,80,80,A6,FF
2021-08-13T02:16:43.286Z,1628821003.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:43.286Z,1628821003.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:43.287Z,1628821003.287 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-13T02:16:43.288Z,1628821003.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:43.670Z,1628821003.670 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-13T02:16:43.670Z,1628821003.670 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-13T02:16:44.918Z,1628821004.918 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-13T02:16:44.918Z,1628821004.918 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-13T02:16:45.299Z,1628821005.299 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,021644.464160,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5D

2021-08-13T02:16:45.300Z,1628821005.300 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,021644.464160,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5D

2021-08-13T02:16:45.318Z,1628821005.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:45.797Z,1628821005.797 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:16:47.308Z,1628821007.308 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T02:16:47.310Z,1628821007.310 [Micromodem](INFO): Sent 51 bytes from file Logs/20210812T232438/Courier0060.lzma.parts
2021-08-13T02:16:47.310Z,1628821007.310 [Micromodem](INFO): Packets left to send: 0
2021-08-13T02:16:47.733Z,1628821007.733 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813021647.543513,06,32767,45,0143,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,14.3,8.31,16,-5.31,-01,-0.58,33,14500,4000*4B

2021-08-13T02:16:47.734Z,1628821007.734 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813021647.543513,06,32767,45,0143,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,14.3,8.31,16,-5.31,-01,-0.58,33,14500,4000*4B

2021-08-13T02:16:48.050Z,1628821008.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:48.050Z,1628821008.050 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T02:16:48.050Z,1628821008.050 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T02:16:48.050Z,1628821008.050 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T02:16:48.051Z,1628821008.051 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:16:48.051Z,1628821008.051 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T02:16:49.227Z,1628821009.227 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.313240
2021-08-13T02:16:50.882Z,1628821010.882 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:16:50.921Z,1628821010.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:51.225Z,1628821011.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:51.225Z,1628821011.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:51.225Z,1628821011.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:51.226Z,1628821011.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:51.633Z,1628821011.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,0106E,186,80,80,A6,FF
2021-08-13T02:16:51.634Z,1628821011.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:51.634Z,1628821011.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:53.666Z,1628821013.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:54.458Z,1628821014.458 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:54.908Z,1628821014.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:16:55.695Z,1628821015.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00FCC,186,80,80,85,FF
2021-08-13T02:16:55.698Z,1628821015.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:16:55.732Z,1628821015.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021656.04*5C

2021-08-13T02:16:56.149Z,1628821016.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.139999 m, bearing: 242.495949 deg, deltaT: 15.859203 s, approachRate: -0.612892 m/s, LOS rate: 0.138545 deg/s, posRepo size: 4
2021-08-13T02:16:56.151Z,1628821016.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.139999 m,
      bearing: 242.495949 deg,
      approachRate: -0.612892 m/s,
      LOS rate: 0.138545 deg/s,
      cmd update: 0.415636 deg/s,
      cmd heading: 248.112959 deg,
      new cmd heading: 248.487477 deg.

2021-08-13T02:16:56.908Z,1628821016.908 [Radio_Surface](INFO): Powering down
2021-08-13T02:16:57.312Z,1628821017.312 [Radio_Surface](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Software Overcurrent.
2021-08-13T02:16:57.312Z,1628821017.312 [Radio_Surface] Hardware Fault, FailCount= 1
2021-08-13T02:16:57.312Z,1628821017.312 [Radio_Surface](ERROR): Hardware Fault
2021-08-13T02:16:57.520Z,1628821017.520 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2021-08-13T02:16:57.907Z,1628821017.907 [CBIT](INFO): Clearing failed state for component Radio_Surface
2021-08-13T02:16:57.907Z,1628821017.907 [Radio_Surface] No Fault, FailCount= 1
2021-08-13T02:16:58.120Z,1628821018.120 [Radio_Surface](INFO): Powering up
2021-08-13T02:16:58.527Z,1628821018.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:16:58.909Z,1628821018.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:16:58.909Z,1628821018.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:16:58.909Z,1628821018.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:16:58.910Z,1628821018.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:16:59.301Z,1628821019.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00FCC,186,80,80,85,FF
2021-08-13T02:16:59.301Z,1628821019.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:16:59.302Z,1628821019.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:16:59.303Z,1628821019.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:16:59.779Z,1628821019.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:00.552Z,1628821020.552 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00F96,185,80,80,A7,FF
2021-08-13T02:17:00.553Z,1628821020.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:00.555Z,1628821020.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021700.83*51

2021-08-13T02:17:00.977Z,1628821020.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.899994 m, bearing: 241.046118 deg, deltaT: 4.772861 s, approachRate: -0.678839 m/s, LOS rate: -0.303766 deg/s, posRepo size: 4
2021-08-13T02:17:00.979Z,1628821020.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 241.046118 deg,
      approachRate: -0.678839 m/s,
      LOS rate: -0.303766 deg/s,
      cmd update: -0.911297 deg/s,
      cmd heading: 250.101362 deg,
      new cmd heading: 250.268711 deg.

2021-08-13T02:17:03.378Z,1628821023.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:03.795Z,1628821023.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:03.795Z,1628821023.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:03.795Z,1628821023.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:03.796Z,1628821023.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:04.161Z,1628821024.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,00F96,185,80,80,A7,FF
2021-08-13T02:17:04.161Z,1628821024.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:04.162Z,1628821024.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:04.163Z,1628821024.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:04.209Z,1628821024.209 [Radio_Surface](INFO): Powering down
2021-08-13T02:17:04.569Z,1628821024.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:05.401Z,1628821025.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,00F60,186,80,80,AA,FF
2021-08-13T02:17:05.402Z,1628821025.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:05.408Z,1628821025.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021705.69*50

2021-08-13T02:17:05.907Z,1628821025.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.660004 m, bearing: 240.259827 deg, deltaT: 4.849776 s, approachRate: -0.668070 m/s, LOS rate: -0.162129 deg/s, posRepo size: 4
2021-08-13T02:17:05.910Z,1628821025.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.660004 m,
      bearing: 240.259827 deg,
      approachRate: -0.668070 m/s,
      LOS rate: -0.162129 deg/s,
      cmd update: -0.486388 deg/s,
      cmd heading: 245.681989 deg,
      new cmd heading: 245.241422 deg.

2021-08-13T02:17:08.226Z,1628821028.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:08.597Z,1628821028.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:08.597Z,1628821028.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:08.597Z,1628821028.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:08.598Z,1628821028.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:09.014Z,1628821029.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,00F60,186,80,80,AA,FF
2021-08-13T02:17:09.014Z,1628821029.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:09.014Z,1628821029.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:09.016Z,1628821029.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:09.413Z,1628821029.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:10.229Z,1628821030.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00F29,186,80,80,9E,FF
2021-08-13T02:17:10.229Z,1628821030.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:10.232Z,1628821030.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021710.54*5A

2021-08-13T02:17:10.668Z,1628821030.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.359985 m, bearing: 239.813078 deg, deltaT: 4.872227 s, approachRate: -0.677312 m/s, LOS rate: -0.091693 deg/s, posRepo size: 4
2021-08-13T02:17:10.670Z,1628821030.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.359985 m,
      bearing: 239.813078 deg,
      approachRate: -0.677312 m/s,
      LOS rate: -0.091693 deg/s,
      cmd update: -0.275079 deg/s,
      cmd heading: 243.314037 deg,
      new cmd heading: 243.131427 deg.

2021-08-13T02:17:13.086Z,1628821033.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:13.445Z,1628821033.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:13.445Z,1628821033.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:13.445Z,1628821033.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:13.446Z,1628821033.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:13.882Z,1628821033.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00F29,186,80,80,9E,FF
2021-08-13T02:17:13.882Z,1628821033.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:13.882Z,1628821033.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:13.904Z,1628821033.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:14.316Z,1628821034.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:15.134Z,1628821035.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021715.43*59

2021-08-13T02:17:16.018Z,1628821036.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:16.376Z,1628821036.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T02:17:17.380Z,1628821037.380 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T02:17:17.417Z,1628821037.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:17.417Z,1628821037.417 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:17.418Z,1628821037.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:17:18.646Z,1628821038.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:19.038Z,1628821039.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:19.038Z,1628821039.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:19.039Z,1628821039.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:19.039Z,1628821039.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:19.059Z,1628821039.059 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:17:19.425Z,1628821039.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:19.425Z,1628821039.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:19.426Z,1628821039.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:19.427Z,1628821039.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:19.870Z,1628821039.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:20.675Z,1628821040.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021720.95*54

2021-08-13T02:17:21.503Z,1628821041.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:23.073Z,1628821043.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:23.073Z,1628821043.073 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:23.074Z,1628821043.074 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:17:24.315Z,1628821044.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:24.685Z,1628821044.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:24.685Z,1628821044.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:24.685Z,1628821044.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:24.686Z,1628821044.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:25.097Z,1628821045.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:25.097Z,1628821045.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:25.097Z,1628821045.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:25.099Z,1628821045.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:25.496Z,1628821045.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:26.315Z,1628821046.315 [Micromodem](INFO): Nmea in: $SNTTA,,0.217342,,,021726.62*45

2021-08-13T02:17:27.154Z,1628821047.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:28.729Z,1628821048.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:28.730Z,1628821048.730 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:28.730Z,1628821048.730 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:17:30.005Z,1628821050.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:30.337Z,1628821050.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:30.337Z,1628821050.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:30.337Z,1628821050.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:30.338Z,1628821050.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:30.750Z,1628821050.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:30.750Z,1628821050.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:30.750Z,1628821050.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:30.751Z,1628821050.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:31.153Z,1628821051.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:31.955Z,1628821051.955 [Micromodem](INFO): Nmea in: $SNTTA,0.390517,0.390892,,,021732.27*5E

2021-08-13T02:17:32.845Z,1628821052.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:34.379Z,1628821054.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:34.382Z,1628821054.382 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:34.383Z,1628821054.383 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:17:35.634Z,1628821055.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:36.001Z,1628821056.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:36.001Z,1628821056.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:36.001Z,1628821056.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:36.002Z,1628821056.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:36.032Z,1628821056.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:36.032Z,1628821056.032 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:36.032Z,1628821056.032 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:36.034Z,1628821056.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:36.429Z,1628821056.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:37.242Z,1628821057.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021737.56*5D

2021-08-13T02:17:38.471Z,1628821058.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:39.653Z,1628821059.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:39.653Z,1628821059.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:39.653Z,1628821059.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:17:41.287Z,1628821061.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:41.681Z,1628821061.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:41.682Z,1628821061.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:41.682Z,1628821061.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:41.683Z,1628821061.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:42.081Z,1628821062.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,9E,FF
2021-08-13T02:17:42.082Z,1628821062.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:42.082Z,1628821062.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:42.083Z,1628821062.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:42.512Z,1628821062.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:43.326Z,1628821063.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021743.61*5A

2021-08-13T02:17:43.823Z,1628821063.823 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:17:43.889Z,1628821063.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:44.938Z,1628821064.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:44.938Z,1628821064.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:45.368Z,1628821065.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1479.719971 m, bearing: 238.660552 deg, deltaT: 34.670806 s, approachRate: 37.044422 m/s, LOS rate: -0.033242 deg/s, posRepo size: 4
2021-08-13T02:17:45.370Z,1628821065.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1479.719971 m,
      bearing: 238.660552 deg,
      approachRate: 37.044422 m/s,
      LOS rate: -0.033242 deg/s,
      cmd update: -0.099726 deg/s,
      cmd heading: 233.775731 deg,
      new cmd heading: 233.665507 deg.

2021-08-13T02:17:47.920Z,1628821067.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:48.169Z,1628821068.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:48.169Z,1628821068.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:48.169Z,1628821068.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:48.170Z,1628821068.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:48.577Z,1628821068.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:48.577Z,1628821068.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:48.577Z,1628821068.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:48.579Z,1628821068.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:48.977Z,1628821068.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:49.386Z,1628821069.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:49.386Z,1628821069.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:49.842Z,1628821069.842 [Micromodem](INFO): Nmea in: $SNTTA,0.475785,0.476323,,,021750.10*55

2021-08-13T02:17:49.921Z,1628821069.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1479.719971 m, bearing: 240.399491 deg, deltaT: 4.444415 s, approachRate: 0.000000 m/s, LOS rate: 0.391264 deg/s, posRepo size: 4
2021-08-13T02:17:49.923Z,1628821069.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1479.719971 m,
      bearing: 240.399491 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.391264 deg/s,
      cmd update: 1.173791 deg/s,
      cmd heading: 233.332937 deg,
      new cmd heading: 233.281658 deg.

2021-08-13T02:17:51.940Z,1628821071.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:52.217Z,1628821072.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:52.217Z,1628821072.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:52.217Z,1628821072.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:52.218Z,1628821072.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:52.633Z,1628821072.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:52.634Z,1628821072.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:52.634Z,1628821072.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:52.635Z,1628821072.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:53.028Z,1628821073.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:53.434Z,1628821073.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:53.434Z,1628821073.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:53.894Z,1628821073.894 [Micromodem](INFO): Nmea in: $SNTTA,0.448429,,,,021754.16*45

2021-08-13T02:17:53.968Z,1628821073.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1479.719971 m, bearing: 241.717389 deg, deltaT: 4.048570 s, approachRate: 0.000000 m/s, LOS rate: 0.325522 deg/s, posRepo size: 4
2021-08-13T02:17:53.970Z,1628821073.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1479.719971 m,
      bearing: 241.717389 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.325522 deg/s,
      cmd update: 0.976566 deg/s,
      cmd heading: 238.088756 deg,
      new cmd heading: 238.681638 deg.

2021-08-13T02:17:55.973Z,1628821075.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:17:56.261Z,1628821076.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:17:56.261Z,1628821076.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:17:56.261Z,1628821076.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:17:56.262Z,1628821076.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:17:56.669Z,1628821076.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,062C7,184,80,80,AC,FF
2021-08-13T02:17:56.670Z,1628821076.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:17:56.670Z,1628821076.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:17:56.671Z,1628821076.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:17:57.073Z,1628821077.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:17:57.481Z,1628821077.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00D3D,184,80,80,AC,FF
2021-08-13T02:17:57.481Z,1628821077.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:17:57.925Z,1628821077.925 [Micromodem](INFO): Nmea in: $SNTTA,0.112673,,,,021758.19*41

2021-08-13T02:17:57.988Z,1628821077.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.840012 m, bearing: 240.462492 deg, deltaT: 4.045663 s, approachRate: -324.762604 m/s, LOS rate: -0.310183 deg/s, posRepo size: 4
2021-08-13T02:17:57.990Z,1628821077.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.840012 m,
      bearing: 240.462492 deg,
      approachRate: -324.762604 m/s,
      LOS rate: -0.310183 deg/s,
      cmd update: -0.930550 deg/s,
      cmd heading: 242.040766 deg,
      new cmd heading: 242.511797 deg.

2021-08-13T02:18:00.332Z,1628821080.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:00.705Z,1628821080.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:00.705Z,1628821080.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:00.705Z,1628821080.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:00.706Z,1628821080.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:01.113Z,1628821081.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00D3D,184,80,80,AC,FF
2021-08-13T02:18:01.113Z,1628821081.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:01.113Z,1628821081.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:01.115Z,1628821081.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:01.516Z,1628821081.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:01.925Z,1628821081.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00435,187,80,80,A6,FF
2021-08-13T02:18:01.925Z,1628821081.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:02.361Z,1628821082.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021802.64*55

2021-08-13T02:18:02.401Z,1628821082.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 241.755966 deg, deltaT: 4.516786 s, approachRate: -30.712107 m/s, LOS rate: 0.286370 deg/s, posRepo size: 4
2021-08-13T02:18:02.402Z,1628821082.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.12 m.
2021-08-13T02:18:02.429Z,1628821082.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.119997 m,
      bearing: 241.755966 deg,
      approachRate: -30.712107 m/s,
      LOS rate: 0.286370 deg/s,
      cmd update: 0.859111 deg/s,
      cmd heading: 237.838244 deg,
      new cmd heading: 237.485172 deg.

2021-08-13T02:18:02.766Z,1628821082.766 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:18:02.802Z,1628821082.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:18:02.802Z,1628821082.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:02.802Z,1628821082.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:18:02.803Z,1628821082.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:18:02.803Z,1628821082.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:18:02.803Z,1628821082.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:18:03.209Z,1628821083.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:18:03.209Z,1628821083.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:03.209Z,1628821083.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:18:03.209Z,1628821083.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:03.963Z,1628821083.963 [DDM](ERROR): Could not parse latch state
2021-08-13T02:18:04.767Z,1628821084.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:05.159Z,1628821085.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:05.159Z,1628821085.159 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:05.159Z,1628821085.159 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:05.160Z,1628821085.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:05.553Z,1628821085.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00435,187,80,80,A6,FF
2021-08-13T02:18:05.553Z,1628821085.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:05.553Z,1628821085.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:05.555Z,1628821085.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:06.045Z,1628821086.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:06.359Z,1628821086.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00CE5,187,80,80,A6,FF
2021-08-13T02:18:06.360Z,1628821086.360 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:06.390Z,1628821086.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:18:06.825Z,1628821086.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021807.08*5A

2021-08-13T02:18:06.900Z,1628821086.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.559998 m, bearing: 241.591687 deg, deltaT: 4.364195 s, approachRate: 30.576086 m/s, LOS rate: -0.037643 deg/s, posRepo size: 4
2021-08-13T02:18:06.902Z,1628821086.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.559998 m,
      bearing: 241.591687 deg,
      approachRate: 30.576086 m/s,
      LOS rate: -0.037643 deg/s,
      cmd update: -0.112928 deg/s,
      cmd heading: 241.586052 deg,
      new cmd heading: 242.025562 deg.

2021-08-13T02:18:07.217Z,1628821087.217 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:18:07.217Z,1628821087.217 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:18:07.218Z,1628821087.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:18:07.218Z,1628821087.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:18:07.218Z,1628821087.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:18:07.218Z,1628821087.218 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:18:07.616Z,1628821087.616 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:18:07.617Z,1628821087.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:18:07.617Z,1628821087.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:18:07.617Z,1628821087.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:18:08.899Z,1628821088.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:09.194Z,1628821089.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:09.194Z,1628821089.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:09.194Z,1628821089.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:09.195Z,1628821089.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:09.589Z,1628821089.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00CE5,187,80,80,A6,FF
2021-08-13T02:18:09.589Z,1628821089.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:09.590Z,1628821089.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:09.591Z,1628821089.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:10.006Z,1628821090.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:10.847Z,1628821090.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021811.12*56

2021-08-13T02:18:11.646Z,1628821091.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:13.237Z,1628821093.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,A6,FF
2021-08-13T02:18:13.237Z,1628821093.237 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,A6,FF
2021-08-13T02:18:13.238Z,1628821093.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:18:14.492Z,1628821094.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:14.845Z,1628821094.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:14.845Z,1628821094.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:14.845Z,1628821094.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:14.846Z,1628821094.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:15.265Z,1628821095.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,A6,FF
2021-08-13T02:18:15.265Z,1628821095.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:15.265Z,1628821095.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:15.267Z,1628821095.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:15.702Z,1628821095.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:15.759Z,1628821095.759 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:18:16.065Z,1628821096.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00C8B,187,80,80,A6,FF
2021-08-13T02:18:16.066Z,1628821096.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:16.489Z,1628821096.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021816.79*5C

2021-08-13T02:18:16.512Z,1628821096.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.159988 m, bearing: 243.672681 deg, deltaT: 9.754592 s, approachRate: -0.553586 m/s, LOS rate: 0.213335 deg/s, posRepo size: 4
2021-08-13T02:18:16.514Z,1628821096.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.159988 m,
      bearing: 243.672681 deg,
      approachRate: -0.553586 m/s,
      LOS rate: 0.213335 deg/s,
      cmd update: 0.640005 deg/s,
      cmd heading: 240.484659 deg,
      new cmd heading: 240.442392 deg.

2021-08-13T02:18:18.914Z,1628821098.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:19.313Z,1628821099.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:19.313Z,1628821099.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:19.313Z,1628821099.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:19.314Z,1628821099.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:19.697Z,1628821099.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00C8B,187,80,80,A6,FF
2021-08-13T02:18:19.697Z,1628821099.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:19.697Z,1628821099.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:19.699Z,1628821099.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:20.112Z,1628821100.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:20.510Z,1628821100.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00C5F,184,80,80,AA,FF
2021-08-13T02:18:20.510Z,1628821100.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:20.949Z,1628821100.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021821.22*56

2021-08-13T02:18:20.972Z,1628821100.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.520004 m, bearing: 245.456126 deg, deltaT: 4.465640 s, approachRate: -0.591177 m/s, LOS rate: 0.399370 deg/s, posRepo size: 4
2021-08-13T02:18:20.974Z,1628821100.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.520004 m,
      bearing: 245.456126 deg,
      approachRate: -0.591177 m/s,
      LOS rate: 0.399370 deg/s,
      cmd update: 1.198111 deg/s,
      cmd heading: 243.329408 deg,
      new cmd heading: 243.578500 deg.

2021-08-13T02:18:23.374Z,1628821103.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:23.765Z,1628821103.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:23.765Z,1628821103.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:23.766Z,1628821103.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:23.766Z,1628821103.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:24.150Z,1628821104.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00C5F,184,80,80,AA,FF
2021-08-13T02:18:24.150Z,1628821104.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:24.150Z,1628821104.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:24.153Z,1628821104.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:24.549Z,1628821104.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:24.950Z,1628821104.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00C37,184,80,80,AA,FF
2021-08-13T02:18:24.951Z,1628821104.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:25.389Z,1628821105.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021825.68*5C

2021-08-13T02:18:25.432Z,1628821105.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.120010 m, bearing: 244.561262 deg, deltaT: 4.403290 s, approachRate: -0.545046 m/s, LOS rate: -0.203226 deg/s, posRepo size: 4
2021-08-13T02:18:25.434Z,1628821105.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.120010 m,
      bearing: 244.561262 deg,
      approachRate: -0.545046 m/s,
      LOS rate: -0.203226 deg/s,
      cmd update: -0.609679 deg/s,
      cmd heading: 248.629380 deg,
      new cmd heading: 249.139471 deg.

2021-08-13T02:18:27.873Z,1628821107.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:28.189Z,1628821108.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:28.189Z,1628821108.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:28.190Z,1628821108.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:28.191Z,1628821108.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:28.585Z,1628821108.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00C37,184,80,80,AA,FF
2021-08-13T02:18:28.585Z,1628821108.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:28.585Z,1628821108.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:28.587Z,1628821108.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:28.999Z,1628821108.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:29.398Z,1628821109.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00C0B,186,80,80,9F,FF
2021-08-13T02:18:29.398Z,1628821109.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:29.842Z,1628821109.842 [Micromodem](INFO): Nmea in: $SNTTA,0.100438,,,,021830.11*46

2021-08-13T02:18:29.920Z,1628821109.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.479996 m, bearing: 241.803286 deg, deltaT: 4.454605 s, approachRate: -0.592648 m/s, LOS rate: -0.619129 deg/s, posRepo size: 4
2021-08-13T02:18:29.922Z,1628821109.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.479996 m,
      bearing: 241.803286 deg,
      approachRate: -0.592648 m/s,
      LOS rate: -0.619129 deg/s,
      cmd update: -1.857387 deg/s,
      cmd heading: 245.915909 deg,
      new cmd heading: 245.640961 deg.

2021-08-13T02:18:32.265Z,1628821112.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:32.627Z,1628821112.627 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:32.627Z,1628821112.627 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:32.627Z,1628821112.627 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:32.628Z,1628821112.628 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:33.033Z,1628821113.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00C0B,186,80,80,9F,FF
2021-08-13T02:18:33.033Z,1628821113.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:33.033Z,1628821113.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:33.035Z,1628821113.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:33.437Z,1628821113.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:33.854Z,1628821113.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00BE8,186,80,80,9D,FF
2021-08-13T02:18:33.855Z,1628821113.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:34.269Z,1628821114.269 [Micromodem](INFO): Nmea in: $SNTTA,0.096610,,,,021834.56*47

2021-08-13T02:18:34.321Z,1628821114.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.380005 m, bearing: 239.741252 deg, deltaT: 4.492722 s, approachRate: -0.467421 m/s, LOS rate: -0.458972 deg/s, posRepo size: 4
2021-08-13T02:18:34.323Z,1628821114.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 239.741252 deg,
      approachRate: -0.467421 m/s,
      LOS rate: -0.458972 deg/s,
      cmd update: -1.376916 deg/s,
      cmd heading: 237.556771 deg,
      new cmd heading: 236.880117 deg.

2021-08-13T02:18:36.686Z,1628821116.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:37.065Z,1628821117.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:37.065Z,1628821117.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:37.065Z,1628821117.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:37.066Z,1628821117.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:37.469Z,1628821117.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00BE8,186,80,80,9D,FF
2021-08-13T02:18:37.469Z,1628821117.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:37.469Z,1628821117.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:37.471Z,1628821117.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:37.889Z,1628821117.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:38.285Z,1628821118.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00BBE,184,80,80,A9,FF
2021-08-13T02:18:38.285Z,1628821118.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:38.725Z,1628821118.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021839.00*5F

2021-08-13T02:18:38.783Z,1628821118.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 241.780883 deg, deltaT: 4.397837 s, approachRate: -0.573010 m/s, LOS rate: 0.463781 deg/s, posRepo size: 4
2021-08-13T02:18:38.790Z,1628821118.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.860001 m,
      bearing: 241.780883 deg,
      approachRate: -0.573010 m/s,
      LOS rate: 0.463781 deg/s,
      cmd update: 1.391342 deg/s,
      cmd heading: 231.500876 deg,
      new cmd heading: 230.917116 deg.

2021-08-13T02:18:41.134Z,1628821121.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:41.536Z,1628821121.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:41.537Z,1628821121.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:41.537Z,1628821121.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:41.538Z,1628821121.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:41.917Z,1628821121.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00BBE,184,80,80,A9,FF
2021-08-13T02:18:41.917Z,1628821121.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:41.917Z,1628821121.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:41.919Z,1628821121.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:42.325Z,1628821122.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:42.769Z,1628821122.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC7,000,00B8A,185,80,80,AC,FF
2021-08-13T02:18:42.769Z,1628821122.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:43.169Z,1628821123.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021843.44*52

2021-08-13T02:18:43.194Z,1628821123.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.740005 m, bearing: 243.588124 deg, deltaT: 4.520359 s, approachRate: -0.690210 m/s, LOS rate: 0.399800 deg/s, posRepo size: 4
2021-08-13T02:18:43.196Z,1628821123.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 243.588124 deg,
      approachRate: -0.690210 m/s,
      LOS rate: 0.399800 deg/s,
      cmd update: 1.199401 deg/s,
      cmd heading: 237.782709 deg,
      new cmd heading: 238.233312 deg.

2021-08-13T02:18:45.583Z,1628821125.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:45.985Z,1628821125.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:45.985Z,1628821125.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:45.985Z,1628821125.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:45.986Z,1628821125.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:46.375Z,1628821126.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC7,000,00B8A,185,80,80,AC,FF
2021-08-13T02:18:46.376Z,1628821126.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:46.376Z,1628821126.376 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:46.378Z,1628821126.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:46.773Z,1628821126.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:47.177Z,1628821127.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,00B64,183,80,80,B5,FF
2021-08-13T02:18:47.177Z,1628821127.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:47.601Z,1628821127.601 [Micromodem](INFO): Nmea in: $SNTTA,0.093740,,,,021847.90*48

2021-08-13T02:18:47.624Z,1628821127.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.460007 m, bearing: 245.227287 deg, deltaT: 4.329177 s, approachRate: -0.526659 m/s, LOS rate: 0.378632 deg/s, posRepo size: 4
2021-08-13T02:18:47.626Z,1628821127.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 245.227287 deg,
      approachRate: -0.526659 m/s,
      LOS rate: 0.378632 deg/s,
      cmd update: 1.135895 deg/s,
      cmd heading: 242.981354 deg,
      new cmd heading: 243.483897 deg.

2021-08-13T02:18:50.055Z,1628821130.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:50.410Z,1628821130.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:50.411Z,1628821130.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:50.411Z,1628821130.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:50.412Z,1628821130.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:50.801Z,1628821130.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,00B64,183,80,80,B5,FF
2021-08-13T02:18:50.801Z,1628821130.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:50.801Z,1628821130.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:50.803Z,1628821130.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:51.237Z,1628821131.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:51.621Z,1628821131.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,023,000,00B3B,184,80,80,9F,FF
2021-08-13T02:18:51.622Z,1628821131.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:52.053Z,1628821132.053 [Micromodem](INFO): Nmea in: $SNTTA,0.092149,,,,021852.32*4A

2021-08-13T02:18:52.118Z,1628821132.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 245.854954 deg, deltaT: 4.434135 s, approachRate: -0.554788 m/s, LOS rate: 0.141553 deg/s, posRepo size: 4
2021-08-13T02:18:52.125Z,1628821132.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.000000 m,
      bearing: 245.854954 deg,
      approachRate: -0.554788 m/s,
      LOS rate: 0.141553 deg/s,
      cmd update: 0.424660 deg/s,
      cmd heading: 248.018336 deg,
      new cmd heading: 248.563044 deg.

2021-08-13T02:18:54.475Z,1628821134.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:54.845Z,1628821134.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:54.845Z,1628821134.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:54.845Z,1628821134.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:54.846Z,1628821134.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:55.241Z,1628821135.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
023,000,00B3B,184,80,80,9F,FF
2021-08-13T02:18:55.241Z,1628821135.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:55.241Z,1628821135.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:55.243Z,1628821135.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:18:55.699Z,1628821135.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:18:56.059Z,1628821136.059 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00431,186,80,80,C3,FF
2021-08-13T02:18:56.059Z,1628821136.059 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:18:56.505Z,1628821136.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021856.76*57

2021-08-13T02:18:56.562Z,1628821136.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 239.279613 deg, deltaT: 4.478714 s, approachRate: -24.140858 m/s, LOS rate: -1.468132 deg/s, posRepo size: 4
2021-08-13T02:18:56.563Z,1628821136.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 26.88 m.
2021-08-13T02:18:56.563Z,1628821136.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 26.88 m.
2021-08-13T02:18:56.563Z,1628821136.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T02:18:56.565Z,1628821136.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.880001 m,
      bearing: 239.279613 deg,
      approachRate: -24.140858 m/s,
      LOS rate: -1.468132 deg/s,
      cmd update: -4.404395 deg/s,
      cmd heading: 249.911000 deg,
      new cmd heading: 250.109022 deg.

2021-08-13T02:18:56.913Z,1628821136.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:18:56.914Z,1628821136.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:56.914Z,1628821136.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:18:56.914Z,1628821136.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:18:56.914Z,1628821136.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:18:56.915Z,1628821136.915 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:18:57.301Z,1628821137.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:18:57.301Z,1628821137.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:57.302Z,1628821137.302 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:18:57.302Z,1628821137.302 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:18:58.957Z,1628821138.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:18:59.296Z,1628821139.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:18:59.296Z,1628821139.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:18:59.296Z,1628821139.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:18:59.297Z,1628821139.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:18:59.689Z,1628821139.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00431,186,80,80,C3,FF
2021-08-13T02:18:59.689Z,1628821139.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:18:59.689Z,1628821139.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:18:59.691Z,1628821139.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:00.097Z,1628821140.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:00.505Z,1628821140.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00AE8,186,80,80,A3,FF
2021-08-13T02:19:00.506Z,1628821140.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:00.526Z,1628821140.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:19:00.941Z,1628821140.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021901.22*55

2021-08-13T02:19:00.972Z,1628821140.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.020004 m, bearing: 237.004067 deg, deltaT: 4.405785 s, approachRate: 23.410130 m/s, LOS rate: -0.516490 deg/s, posRepo size: 4
2021-08-13T02:19:00.974Z,1628821140.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.020004 m,
      bearing: 237.004067 deg,
      approachRate: 23.410130 m/s,
      LOS rate: -0.516490 deg/s,
      cmd update: -1.549471 deg/s,
      cmd heading: 230.411676 deg,
      new cmd heading: 228.434944 deg.

2021-08-13T02:19:01.348Z,1628821141.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:19:01.348Z,1628821141.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:19:01.348Z,1628821141.348 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:19:01.349Z,1628821141.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:19:01.349Z,1628821141.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:19:01.349Z,1628821141.349 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:19:01.805Z,1628821141.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:19:01.805Z,1628821141.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:19:01.805Z,1628821141.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:19:01.805Z,1628821141.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:19:03.390Z,1628821143.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:03.748Z,1628821143.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:03.749Z,1628821143.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:03.749Z,1628821143.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:03.751Z,1628821143.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:04.133Z,1628821144.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00AE8,186,80,80,A3,FF
2021-08-13T02:19:04.133Z,1628821144.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:04.133Z,1628821144.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:04.135Z,1628821144.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:04.540Z,1628821144.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:04.945Z,1628821144.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00AC1,184,80,80,B6,FF
2021-08-13T02:19:04.945Z,1628821144.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:05.377Z,1628821145.377 [Micromodem](INFO): Nmea in: $SNTTA,0.092795,,,,021905.66*4F

2021-08-13T02:19:05.413Z,1628821145.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.680000 m, bearing: 240.767501 deg, deltaT: 4.439287 s, approachRate: -0.527113 m/s, LOS rate: 0.847756 deg/s, posRepo size: 4
2021-08-13T02:19:05.415Z,1628821145.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.680000 m,
      bearing: 240.767501 deg,
      approachRate: -0.527113 m/s,
      LOS rate: 0.847756 deg/s,
      cmd update: 2.543269 deg/s,
      cmd heading: 223.532618 deg,
      new cmd heading: 222.835602 deg.

2021-08-13T02:19:07.899Z,1628821147.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:08.173Z,1628821148.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:08.173Z,1628821148.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:08.173Z,1628821148.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:08.174Z,1628821148.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:08.577Z,1628821148.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00AC1,184,80,80,B6,FF
2021-08-13T02:19:08.577Z,1628821148.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:08.577Z,1628821148.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:08.579Z,1628821148.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:08.984Z,1628821148.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:09.389Z,1628821149.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7B,000,00A99,186,80,80,C3,FF
2021-08-13T02:19:09.389Z,1628821149.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:09.825Z,1628821149.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021910.10*54

2021-08-13T02:19:09.930Z,1628821149.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.280006 m, bearing: 245.788128 deg, deltaT: 4.444049 s, approachRate: -0.540047 m/s, LOS rate: 1.129741 deg/s, posRepo size: 4
2021-08-13T02:19:09.933Z,1628821149.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.280006 m,
      bearing: 245.788128 deg,
      approachRate: -0.540047 m/s,
      LOS rate: 1.129741 deg/s,
      cmd update: 3.389224 deg/s,
      cmd heading: 234.835548 deg,
      new cmd heading: 236.166314 deg.

2021-08-13T02:19:11.913Z,1628821151.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:12.225Z,1628821152.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:12.225Z,1628821152.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:12.225Z,1628821152.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:12.226Z,1628821152.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:12.617Z,1628821152.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7B,000,00A99,186,80,80,C3,FF
2021-08-13T02:19:12.617Z,1628821152.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:12.617Z,1628821152.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:12.619Z,1628821152.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:13.034Z,1628821153.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:13.433Z,1628821153.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00A70,186,80,80,A8,FF
2021-08-13T02:19:13.434Z,1628821153.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:13.871Z,1628821153.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021914.15*55

2021-08-13T02:19:13.926Z,1628821153.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.820007 m, bearing: 240.824656 deg, deltaT: 4.112681 s, approachRate: -0.598150 m/s, LOS rate: -1.206870 deg/s, posRepo size: 4
2021-08-13T02:19:13.927Z,1628821153.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 240.824656 deg,
      approachRate: -0.598150 m/s,
      LOS rate: -1.206870 deg/s,
      cmd update: -3.620610 deg/s,
      cmd heading: 248.760439 deg,
      new cmd heading: 250.150024 deg.

2021-08-13T02:19:16.279Z,1628821156.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:16.665Z,1628821156.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:16.665Z,1628821156.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:16.665Z,1628821156.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:16.666Z,1628821156.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:17.065Z,1628821157.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00A70,186,80,80,A8,FF
2021-08-13T02:19:17.066Z,1628821157.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:17.066Z,1628821157.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:17.067Z,1628821157.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:17.475Z,1628821157.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:17.886Z,1628821157.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00A49,186,80,80,A9,FF
2021-08-13T02:19:17.886Z,1628821157.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:18.317Z,1628821158.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021918.59*51

2021-08-13T02:19:18.340Z,1628821158.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.480003 m, bearing: 240.523363 deg, deltaT: 4.444552 s, approachRate: -0.526488 m/s, LOS rate: -0.067789 deg/s, posRepo size: 4
2021-08-13T02:19:18.342Z,1628821158.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.480003 m,
      bearing: 240.523363 deg,
      approachRate: -0.526488 m/s,
      LOS rate: -0.067789 deg/s,
      cmd update: -0.203368 deg/s,
      cmd heading: 232.667943 deg,
      new cmd heading: 231.294472 deg.

2021-08-13T02:19:20.731Z,1628821160.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:21.113Z,1628821161.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:21.113Z,1628821161.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:21.113Z,1628821161.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:21.114Z,1628821161.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:21.514Z,1628821161.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00A49,186,80,80,A9,FF
2021-08-13T02:19:21.515Z,1628821161.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:21.515Z,1628821161.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:21.517Z,1628821161.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:21.933Z,1628821161.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:22.321Z,1628821162.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00A1E,186,80,80,9B,FF
2021-08-13T02:19:22.321Z,1628821162.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:22.761Z,1628821162.761 [Micromodem](INFO): Nmea in: $SNTTA,0.078372,,,,021923.04*46

2021-08-13T02:19:22.784Z,1628821162.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 242.540236 deg, deltaT: 4.421460 s, approachRate: -0.583516 m/s, LOS rate: 0.456155 deg/s, posRepo size: 4
2021-08-13T02:19:22.786Z,1628821162.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.900009 m,
      bearing: 242.540236 deg,
      approachRate: -0.583516 m/s,
      LOS rate: 0.456155 deg/s,
      cmd update: 1.368466 deg/s,
      cmd heading: 231.770389 deg,
      new cmd heading: 231.686972 deg.

2021-08-13T02:19:25.182Z,1628821165.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:25.580Z,1628821165.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:25.581Z,1628821165.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:25.581Z,1628821165.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:25.582Z,1628821165.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:25.958Z,1628821165.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00A1E,186,80,80,9B,FF
2021-08-13T02:19:25.958Z,1628821165.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:25.959Z,1628821165.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:25.962Z,1628821165.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:26.357Z,1628821166.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:27.178Z,1628821167.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021927.48*5D

2021-08-13T02:19:28.031Z,1628821168.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:29.589Z,1628821169.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,9B,FF
2021-08-13T02:19:29.590Z,1628821169.590 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,9B,FF
2021-08-13T02:19:29.590Z,1628821169.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:19:30.855Z,1628821170.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:31.210Z,1628821171.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:31.210Z,1628821171.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:31.210Z,1628821171.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:31.211Z,1628821171.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:31.610Z,1628821171.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,9B,FF
2021-08-13T02:19:31.610Z,1628821171.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:31.610Z,1628821171.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:31.612Z,1628821171.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:32.012Z,1628821172.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:32.425Z,1628821172.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,009BF,185,80,80,AE,FF
2021-08-13T02:19:32.426Z,1628821172.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:32.858Z,1628821172.858 [Micromodem](INFO): Nmea in: $SNTTA,0.082096,,,,021933.14*4A

2021-08-13T02:19:32.885Z,1628821172.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.199997 m, bearing: 247.865625 deg, deltaT: 10.112465 s, approachRate: -0.563662 m/s, LOS rate: 0.526616 deg/s, posRepo size: 4
2021-08-13T02:19:32.887Z,1628821172.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.199997 m,
      bearing: 247.865625 deg,
      approachRate: -0.563662 m/s,
      LOS rate: 0.526616 deg/s,
      cmd update: 1.579849 deg/s,
      cmd heading: 245.619627 deg,
      new cmd heading: 246.154950 deg.

2021-08-13T02:19:35.259Z,1628821175.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:35.659Z,1628821175.659 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:35.659Z,1628821175.659 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:35.661Z,1628821175.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:35.678Z,1628821175.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:36.049Z,1628821176.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,009BF,185,80,80,AE,FF
2021-08-13T02:19:36.049Z,1628821176.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:36.049Z,1628821176.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:36.051Z,1628821176.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:36.456Z,1628821176.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:36.874Z,1628821176.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00994,186,80,80,BC,FF
2021-08-13T02:19:36.874Z,1628821176.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:37.302Z,1628821177.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021937.58*5D

2021-08-13T02:19:37.333Z,1628821177.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 246.251187 deg, deltaT: 4.427959 s, approachRate: -0.582660 m/s, LOS rate: -0.364601 deg/s, posRepo size: 4
2021-08-13T02:19:37.335Z,1628821177.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.620003 m,
      bearing: 246.251187 deg,
      approachRate: -0.582660 m/s,
      LOS rate: -0.364601 deg/s,
      cmd update: -1.093803 deg/s,
      cmd heading: 252.621867 deg,
      new cmd heading: 253.262164 deg.

2021-08-13T02:19:37.489Z,1628821177.489 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T02:19:37.566Z,1628821177.566 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:38.571Z,1628821178.571 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:39.574Z,1628821179.574 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:39.784Z,1628821179.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:40.097Z,1628821180.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:40.097Z,1628821180.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:40.097Z,1628821180.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:40.098Z,1628821180.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:40.493Z,1628821180.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00994,186,80,80,BC,FF
2021-08-13T02:19:40.493Z,1628821180.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:40.493Z,1628821180.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:40.495Z,1628821180.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:40.581Z,1628821180.581 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:40.920Z,1628821180.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:41.301Z,1628821181.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00966,186,80,80,AE,FF
2021-08-13T02:19:41.301Z,1628821181.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:41.582Z,1628821181.582 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:41.760Z,1628821181.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021942.02*50

2021-08-13T02:19:41.817Z,1628821181.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 245.099399 deg, deltaT: 4.433652 s, approachRate: -0.622512 m/s, LOS rate: -0.259783 deg/s, posRepo size: 4
2021-08-13T02:19:41.819Z,1628821181.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 245.099399 deg,
      approachRate: -0.622512 m/s,
      LOS rate: -0.259783 deg/s,
      cmd update: -0.779350 deg/s,
      cmd heading: 247.784147 deg,
      new cmd heading: 247.272776 deg.

2021-08-13T02:19:42.586Z,1628821182.586 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:43.590Z,1628821183.590 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:43.866Z,1628821183.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:44.133Z,1628821184.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:44.133Z,1628821184.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:44.133Z,1628821184.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:44.134Z,1628821184.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:44.533Z,1628821184.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00966,186,80,80,AE,FF
2021-08-13T02:19:44.533Z,1628821184.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:44.533Z,1628821184.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:44.535Z,1628821184.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:44.597Z,1628821184.597 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:44.940Z,1628821184.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:45.350Z,1628821185.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,00940,186,80,80,9A,FF
2021-08-13T02:19:45.350Z,1628821185.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:45.598Z,1628821185.598 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:45.837Z,1628821185.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021946.06*50

2021-08-13T02:19:45.916Z,1628821185.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.580002 m, bearing: 243.832726 deg, deltaT: 4.008336 s, approachRate: -0.568814 m/s, LOS rate: -0.316010 deg/s, posRepo size: 4
2021-08-13T02:19:45.918Z,1628821185.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.580002 m,
      bearing: 243.832726 deg,
      approachRate: -0.568814 m/s,
      LOS rate: -0.316010 deg/s,
      cmd update: -0.948029 deg/s,
      cmd heading: 244.651858 deg,
      new cmd heading: 244.225126 deg.

2021-08-13T02:19:46.602Z,1628821186.602 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:47.606Z,1628821187.606 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T02:19:47.887Z,1628821187.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:48.169Z,1628821188.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:48.169Z,1628821188.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:48.169Z,1628821188.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:48.170Z,1628821188.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:48.315Z,1628821188.315 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005726
CHAN A1 (24V): -0.022767
CHAN A2 (12V): -0.005299
CHAN A3 (5V): -0.001584
CHAN B0 (3.3V): 0.000875
CHAN B1 (3.15aV): 0.000723
CHAN B2 (3.15bV): 0.000519
CHAN B3 (GND): 0.001759
OPEN: 0.006704
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T02:19:48.578Z,1628821188.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,00940,186,80,80,9A,FF
2021-08-13T02:19:48.578Z,1628821188.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:48.578Z,1628821188.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:48.579Z,1628821188.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:48.980Z,1628821188.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:49.385Z,1628821189.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,0091D,184,80,80,B2,FF
2021-08-13T02:19:49.385Z,1628821189.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:49.834Z,1628821189.834 [Micromodem](INFO): Nmea in: $SNTTA,0.070505,,,,021950.10*49

2021-08-13T02:19:49.905Z,1628821189.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.479996 m, bearing: 242.556465 deg, deltaT: 4.114821 s, approachRate: -0.510352 m/s, LOS rate: -0.310162 deg/s, posRepo size: 4
2021-08-13T02:19:49.907Z,1628821189.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.479996 m,
      bearing: 242.556465 deg,
      approachRate: -0.510352 m/s,
      LOS rate: -0.310162 deg/s,
      cmd update: -0.930486 deg/s,
      cmd heading: 240.756566 deg,
      new cmd heading: 240.373767 deg.

2021-08-13T02:19:52.239Z,1628821192.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:52.617Z,1628821192.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:52.617Z,1628821192.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:52.617Z,1628821192.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:52.618Z,1628821192.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:53.021Z,1628821193.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,0091D,184,80,80,B2,FF
2021-08-13T02:19:53.021Z,1628821193.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:53.022Z,1628821193.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:53.023Z,1628821193.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:53.433Z,1628821193.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:54.262Z,1628821194.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,021954.54*54

2021-08-13T02:19:55.081Z,1628821195.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:56.657Z,1628821196.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,184,80,80,B2,FF
2021-08-13T02:19:56.657Z,1628821196.657 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,184,80,80,B2,FF
2021-08-13T02:19:56.658Z,1628821196.658 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:19:57.926Z,1628821197.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:19:58.288Z,1628821198.288 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:19:58.289Z,1628821198.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:19:58.289Z,1628821198.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:19:58.290Z,1628821198.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:19:58.673Z,1628821198.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,184,80,80,B2,FF
2021-08-13T02:19:58.673Z,1628821198.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:19:58.673Z,1628821198.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:19:58.675Z,1628821198.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:19:59.080Z,1628821199.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:19:59.486Z,1628821199.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,008BC,184,80,80,B8,FF
2021-08-13T02:19:59.486Z,1628821199.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:19:59.925Z,1628821199.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022000.20*5C

2021-08-13T02:19:59.993Z,1628821199.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.660004 m, bearing: 239.765048 deg, deltaT: 10.030772 s, approachRate: -0.580214 m/s, LOS rate: -0.278285 deg/s, posRepo size: 4
2021-08-13T02:19:59.995Z,1628821199.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.660004 m,
      bearing: 239.765048 deg,
      approachRate: -0.580214 m/s,
      LOS rate: -0.278285 deg/s,
      cmd update: -0.834856 deg/s,
      cmd heading: 231.417453 deg,
      new cmd heading: 230.971165 deg.

2021-08-13T02:20:02.338Z,1628821202.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:02.753Z,1628821202.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:02.753Z,1628821202.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:02.753Z,1628821202.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:02.754Z,1628821202.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:03.125Z,1628821203.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,008BC,184,80,80,B8,FF
2021-08-13T02:20:03.125Z,1628821203.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:03.126Z,1628821203.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:03.127Z,1628821203.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:03.524Z,1628821203.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:03.925Z,1628821203.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0088F,186,80,80,89,FF
2021-08-13T02:20:03.925Z,1628821203.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:04.373Z,1628821204.373 [Micromodem](INFO): Nmea in: $SNTTA,0.091215,,,,022004.65*49

2021-08-13T02:20:04.389Z,1628821204.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 240.478940 deg, deltaT: 4.508305 s, approachRate: -0.598894 m/s, LOS rate: 0.158350 deg/s, posRepo size: 4
2021-08-13T02:20:04.391Z,1628821204.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.960007 m,
      bearing: 240.478940 deg,
      approachRate: -0.598894 m/s,
      LOS rate: 0.158350 deg/s,
      cmd update: 0.475051 deg/s,
      cmd heading: 227.661226 deg,
      new cmd heading: 227.347405 deg.

2021-08-13T02:20:06.790Z,1628821206.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:07.160Z,1628821207.160 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:07.161Z,1628821207.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:07.161Z,1628821207.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:07.162Z,1628821207.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:07.569Z,1628821207.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0088F,186,80,80,89,FF
2021-08-13T02:20:07.569Z,1628821207.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:07.569Z,1628821207.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:07.571Z,1628821207.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:07.969Z,1628821207.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:08.381Z,1628821208.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,00860,187,80,80,B4,FF
2021-08-13T02:20:08.382Z,1628821208.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:08.817Z,1628821208.817 [Micromodem](INFO): Nmea in: $SNTTA,0.067180,,,,022009.09*48

2021-08-13T02:20:08.834Z,1628821208.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 240.761873 deg, deltaT: 4.417456 s, approachRate: -0.638378 m/s, LOS rate: 0.064049 deg/s, posRepo size: 4
2021-08-13T02:20:08.836Z,1628821208.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.139999 m,
      bearing: 240.761873 deg,
      approachRate: -0.638378 m/s,
      LOS rate: 0.064049 deg/s,
      cmd update: 0.192147 deg/s,
      cmd heading: 229.764009 deg,
      new cmd heading: 229.951293 deg.

2021-08-13T02:20:11.224Z,1628821211.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:11.624Z,1628821211.624 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:11.624Z,1628821211.624 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:11.624Z,1628821211.624 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:11.625Z,1628821211.625 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:12.011Z,1628821212.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,00860,187,80,80,B4,FF
2021-08-13T02:20:12.011Z,1628821212.011 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:12.011Z,1628821212.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:12.013Z,1628821212.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:12.413Z,1628821212.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:12.817Z,1628821212.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5E,000,0083B,186,80,80,9D,FF
2021-08-13T02:20:12.817Z,1628821212.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:13.253Z,1628821213.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022013.53*5A

2021-08-13T02:20:13.289Z,1628821213.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 240.976532 deg, deltaT: 4.433499 s, approachRate: -0.500733 m/s, LOS rate: 0.048418 deg/s, posRepo size: 4
2021-08-13T02:20:13.291Z,1628821213.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 240.976532 deg,
      approachRate: -0.500733 m/s,
      LOS rate: 0.048418 deg/s,
      cmd update: 0.145253 deg/s,
      cmd heading: 230.614597 deg,
      new cmd heading: 230.695734 deg.

2021-08-13T02:20:15.663Z,1628821215.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:16.068Z,1628821216.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:16.069Z,1628821216.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:16.069Z,1628821216.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:16.071Z,1628821216.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:16.457Z,1628821216.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5E,000,0083B,186,80,80,9D,FF
2021-08-13T02:20:16.457Z,1628821216.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:16.457Z,1628821216.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:16.459Z,1628821216.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:16.873Z,1628821216.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:17.287Z,1628821217.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00811,187,80,80,AE,FF
2021-08-13T02:20:17.287Z,1628821217.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:17.705Z,1628821217.705 [Micromodem](INFO): Nmea in: $SNTTA,0.063131,,,,022017.98*41

2021-08-13T02:20:17.790Z,1628821217.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.400002 m, bearing: 242.461689 deg, deltaT: 4.442062 s, approachRate: -0.567303 m/s, LOS rate: 0.334339 deg/s, posRepo size: 4
2021-08-13T02:20:17.797Z,1628821217.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.400002 m,
      bearing: 242.461689 deg,
      approachRate: -0.567303 m/s,
      LOS rate: 0.334339 deg/s,
      cmd update: 1.003018 deg/s,
      cmd heading: 231.260796 deg,
      new cmd heading: 231.329851 deg.

2021-08-13T02:20:20.147Z,1628821220.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:20.497Z,1628821220.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:20.497Z,1628821220.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:20.497Z,1628821220.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:20.498Z,1628821220.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:20.912Z,1628821220.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00811,187,80,80,AE,FF
2021-08-13T02:20:20.912Z,1628821220.912 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:20.913Z,1628821220.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:20.914Z,1628821220.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:21.365Z,1628821221.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:21.721Z,1628821221.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,007E8,186,80,80,9F,FF
2021-08-13T02:20:21.722Z,1628821221.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:22.142Z,1628821222.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022022.44*5E

2021-08-13T02:20:22.164Z,1628821222.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 242.921361 deg, deltaT: 4.563539 s, approachRate: -0.539055 m/s, LOS rate: 0.100727 deg/s, posRepo size: 4
2021-08-13T02:20:22.166Z,1628821222.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 242.921361 deg,
      approachRate: -0.539055 m/s,
      LOS rate: 0.100727 deg/s,
      cmd update: 0.302181 deg/s,
      cmd heading: 235.827271 deg,
      new cmd heading: 236.124556 deg.

2021-08-13T02:20:24.582Z,1628821224.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:24.952Z,1628821224.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:24.952Z,1628821224.952 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:24.953Z,1628821224.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:24.954Z,1628821224.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:25.338Z,1628821225.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,007E8,186,80,80,9F,FF
2021-08-13T02:20:25.338Z,1628821225.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:25.339Z,1628821225.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:25.341Z,1628821225.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:25.817Z,1628821225.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:25.852Z,1628821225.852 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:20:26.158Z,1628821226.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,007BD,185,80,80,96,FF
2021-08-13T02:20:26.159Z,1628821226.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:26.589Z,1628821226.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022026.87*55

2021-08-13T02:20:26.632Z,1628821226.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 244.200027 deg, deltaT: 4.339893 s, approachRate: -0.594483 m/s, LOS rate: 0.294631 deg/s, posRepo size: 4
2021-08-13T02:20:26.634Z,1628821226.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.360008 m,
      bearing: 244.200027 deg,
      approachRate: -0.594483 m/s,
      LOS rate: 0.294631 deg/s,
      cmd update: 0.883892 deg/s,
      cmd heading: 237.140768 deg,
      new cmd heading: 237.260770 deg.

2021-08-13T02:20:26.980Z,1628821226.980 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:20:29.030Z,1628821229.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:29.379Z,1628821229.379 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:29.379Z,1628821229.379 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:29.380Z,1628821229.380 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:29.381Z,1628821229.381 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:29.813Z,1628821229.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,007BD,185,80,80,96,FF
2021-08-13T02:20:29.813Z,1628821229.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:29.813Z,1628821229.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:29.815Z,1628821229.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:30.207Z,1628821230.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:30.589Z,1628821230.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00791,184,80,80,9D,FF
2021-08-13T02:20:30.589Z,1628821230.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:31.019Z,1628821231.019 [Micromodem](INFO): Nmea in: $SNTTA,0.056120,,,,022031.34*45

2021-08-13T02:20:31.070Z,1628821231.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.720009 m, bearing: 244.435695 deg, deltaT: 4.449277 s, approachRate: -0.593355 m/s, LOS rate: 0.052968 deg/s, posRepo size: 4
2021-08-13T02:20:31.072Z,1628821231.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 244.435695 deg,
      approachRate: -0.593355 m/s,
      LOS rate: 0.052968 deg/s,
      cmd update: 0.158904 deg/s,
      cmd heading: 241.077089 deg,
      new cmd heading: 241.432794 deg.

2021-08-13T02:20:33.469Z,1628821233.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:33.829Z,1628821233.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:33.829Z,1628821233.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:33.829Z,1628821233.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:33.829Z,1628821233.829 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:34.229Z,1628821234.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00791,184,80,80,9D,FF
2021-08-13T02:20:34.229Z,1628821234.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:34.229Z,1628821234.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:34.231Z,1628821234.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:34.633Z,1628821234.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:35.037Z,1628821235.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00765,183,80,80,BC,FF
2021-08-13T02:20:35.037Z,1628821235.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:35.469Z,1628821235.469 [Micromodem](INFO): Nmea in: $SNTTA,0.087855,,,,022035.75*43

2021-08-13T02:20:35.506Z,1628821235.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.080002 m, bearing: 245.946315 deg, deltaT: 4.386814 s, approachRate: -0.601805 m/s, LOS rate: 0.344355 deg/s, posRepo size: 4
2021-08-13T02:20:35.508Z,1628821235.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 245.946315 deg,
      approachRate: -0.601805 m/s,
      LOS rate: 0.344355 deg/s,
      cmd update: 1.033064 deg/s,
      cmd heading: 241.774159 deg,
      new cmd heading: 241.845893 deg.

2021-08-13T02:20:35.876Z,1628821235.876 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:20:37.922Z,1628821237.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:38.293Z,1628821238.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:38.293Z,1628821238.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:38.293Z,1628821238.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:38.294Z,1628821238.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:38.681Z,1628821238.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00765,183,80,80,BC,FF
2021-08-13T02:20:38.682Z,1628821238.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:38.682Z,1628821238.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:38.683Z,1628821238.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:39.086Z,1628821239.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:39.481Z,1628821239.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0073A,182,80,80,B1,FF
2021-08-13T02:20:39.481Z,1628821239.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:39.917Z,1628821239.917 [Micromodem](INFO): Nmea in: $SNTTA,0.051077,0.425807,,,022040.20*50

2021-08-13T02:20:39.990Z,1628821239.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 247.528815 deg, deltaT: 4.486291 s, approachRate: -0.575086 m/s, LOS rate: 0.352741 deg/s, posRepo size: 4
2021-08-13T02:20:39.997Z,1628821239.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 247.528815 deg,
      approachRate: -0.575086 m/s,
      LOS rate: 0.352741 deg/s,
      cmd update: 1.058224 deg/s,
      cmd heading: 246.400303 deg,
      new cmd heading: 246.867049 deg.

2021-08-13T02:20:42.377Z,1628821242.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:42.717Z,1628821242.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:42.717Z,1628821242.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:42.717Z,1628821242.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:42.718Z,1628821242.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:43.117Z,1628821243.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0073A,182,80,80,B1,FF
2021-08-13T02:20:43.117Z,1628821243.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:43.117Z,1628821243.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:43.119Z,1628821243.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:43.528Z,1628821243.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:43.932Z,1628821243.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,0070A,185,80,80,9D,FF
2021-08-13T02:20:43.933Z,1628821243.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:44.369Z,1628821244.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022044.64*5C

2021-08-13T02:20:44.395Z,1628821244.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 248.359421 deg, deltaT: 4.428620 s, approachRate: -0.650315 m/s, LOS rate: 0.187554 deg/s, posRepo size: 4
2021-08-13T02:20:44.417Z,1628821244.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 248.359421 deg,
      approachRate: -0.650315 m/s,
      LOS rate: 0.187554 deg/s,
      cmd update: 0.562662 deg/s,
      cmd heading: 251.094938 deg,
      new cmd heading: 251.545495 deg.

2021-08-13T02:20:45.970Z,1628821245.970 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:20:46.771Z,1628821246.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:47.157Z,1628821247.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:47.157Z,1628821247.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:47.157Z,1628821247.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:47.158Z,1628821247.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:47.566Z,1628821247.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,0070A,185,80,80,9D,FF
2021-08-13T02:20:47.566Z,1628821247.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:47.566Z,1628821247.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:47.568Z,1628821247.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:47.985Z,1628821247.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:48.369Z,1628821248.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,006E0,186,80,80,88,FF
2021-08-13T02:20:48.369Z,1628821248.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:48.813Z,1628821248.813 [Micromodem](INFO): Nmea in: $SNTTA,,0.022338,,,022049.09*4C

2021-08-13T02:20:48.848Z,1628821248.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 248.809530 deg, deltaT: 4.427629 s, approachRate: -0.569154 m/s, LOS rate: 0.101659 deg/s, posRepo size: 4
2021-08-13T02:20:48.851Z,1628821248.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.099998 m,
      bearing: 248.809530 deg,
      approachRate: -0.569154 m/s,
      LOS rate: 0.101659 deg/s,
      cmd update: 0.304978 deg/s,
      cmd heading: 253.586286 deg,
      new cmd heading: 253.839527 deg.

2021-08-13T02:20:51.225Z,1628821251.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:51.601Z,1628821251.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:51.601Z,1628821251.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:51.601Z,1628821251.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:51.602Z,1628821251.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:52.013Z,1628821252.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,006E0,186,80,80,88,FF
2021-08-13T02:20:52.013Z,1628821252.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:52.013Z,1628821252.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:52.015Z,1628821252.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:52.423Z,1628821252.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:52.813Z,1628821252.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B6,000,006B1,186,80,80,BD,FF
2021-08-13T02:20:52.813Z,1628821252.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:53.277Z,1628821253.277 [Micromodem](INFO): Nmea in: $SNTTA,0.154450,,,,022053.54*46

2021-08-13T02:20:53.314Z,1628821253.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.280006 m, bearing: 247.699242 deg, deltaT: 4.468749 s, approachRate: -0.631047 m/s, LOS rate: -0.248456 deg/s, posRepo size: 4
2021-08-13T02:20:53.318Z,1628821253.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 247.699242 deg,
      approachRate: -0.631047 m/s,
      LOS rate: -0.248456 deg/s,
      cmd update: -0.745369 deg/s,
      cmd heading: 254.946046 deg,
      new cmd heading: 255.085994 deg.

2021-08-13T02:20:55.659Z,1628821255.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:20:56.053Z,1628821256.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:20:56.053Z,1628821256.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:20:56.053Z,1628821256.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:20:56.054Z,1628821256.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:20:56.445Z,1628821256.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B6,000,006B1,186,80,80,BD,FF
2021-08-13T02:20:56.445Z,1628821256.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:20:56.445Z,1628821256.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:20:56.447Z,1628821256.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:20:56.863Z,1628821256.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:20:57.276Z,1628821257.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,00688,186,80,80,C1,FF
2021-08-13T02:20:57.277Z,1628821257.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:20:57.709Z,1628821257.709 [Micromodem](INFO): Nmea in: $SNTTA,0.050271,,,,022057.97*4D

2021-08-13T02:20:57.790Z,1628821257.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.820007 m, bearing: 243.620417 deg, deltaT: 4.483920 s, approachRate: -0.548627 m/s, LOS rate: -0.909656 deg/s, posRepo size: 4
2021-08-13T02:20:57.797Z,1628821257.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 243.620417 deg,
      approachRate: -0.548627 m/s,
      LOS rate: -0.909656 deg/s,
      cmd update: -2.728968 deg/s,
      cmd heading: 251.599384 deg,
      new cmd heading: 251.267646 deg.

2021-08-13T02:21:00.152Z,1628821260.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:00.489Z,1628821260.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:00.489Z,1628821260.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:00.489Z,1628821260.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:00.490Z,1628821260.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:00.905Z,1628821260.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,00688,186,80,80,C1,FF
2021-08-13T02:21:00.905Z,1628821260.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:00.905Z,1628821260.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:00.907Z,1628821260.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:01.340Z,1628821261.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:01.709Z,1628821261.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00662,186,80,80,A3,FF
2021-08-13T02:21:01.711Z,1628821261.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:02.137Z,1628821262.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022102.43*5A

2021-08-13T02:21:02.184Z,1628821262.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.540005 m, bearing: 246.760337 deg, deltaT: 4.439805 s, approachRate: -0.513537 m/s, LOS rate: 0.707220 deg/s, posRepo size: 4
2021-08-13T02:21:02.186Z,1628821262.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 246.760337 deg,
      approachRate: -0.513537 m/s,
      LOS rate: 0.707220 deg/s,
      cmd update: 2.121661 deg/s,
      cmd heading: 239.494534 deg,
      new cmd heading: 238.394855 deg.

2021-08-13T02:21:04.567Z,1628821264.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:04.953Z,1628821264.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:04.953Z,1628821264.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:04.953Z,1628821264.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:04.953Z,1628821264.953 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:05.333Z,1628821265.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00662,186,80,80,A3,FF
2021-08-13T02:21:05.333Z,1628821265.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:05.334Z,1628821265.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:05.335Z,1628821265.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:05.825Z,1628821265.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:05.847Z,1628821265.847 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:21:06.157Z,1628821266.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,00631,186,80,80,A8,FF
2021-08-13T02:21:06.157Z,1628821266.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:06.581Z,1628821266.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022106.86*57

2021-08-13T02:21:06.631Z,1628821266.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 250.443776 deg, deltaT: 4.385197 s, approachRate: -0.670438 m/s, LOS rate: 0.839971 deg/s, posRepo size: 4
2021-08-13T02:21:06.637Z,1628821266.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 250.443776 deg,
      approachRate: -0.670438 m/s,
      LOS rate: 0.839971 deg/s,
      cmd update: 2.519914 deg/s,
      cmd heading: 248.816246 deg,
      new cmd heading: 249.784470 deg.

2021-08-13T02:21:08.995Z,1628821268.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:09.377Z,1628821269.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:09.377Z,1628821269.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:09.377Z,1628821269.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:09.378Z,1628821269.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:09.809Z,1628821269.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,00631,186,80,80,A8,FF
2021-08-13T02:21:09.809Z,1628821269.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:09.809Z,1628821269.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:09.811Z,1628821269.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:10.193Z,1628821270.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:10.593Z,1628821270.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0060D,183,80,80,B3,FF
2021-08-13T02:21:10.593Z,1628821270.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:11.021Z,1628821271.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022111.33*5F

2021-08-13T02:21:11.049Z,1628821271.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 244.666501 deg, deltaT: 4.474517 s, approachRate: -0.482734 m/s, LOS rate: -1.291150 deg/s, posRepo size: 4
2021-08-13T02:21:11.051Z,1628821271.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.439999 m,
      bearing: 244.666501 deg,
      approachRate: -0.482734 m/s,
      LOS rate: -1.291150 deg/s,
      cmd update: -3.873452 deg/s,
      cmd heading: 260.080998 deg,
      new cmd heading: 261.067786 deg.

2021-08-13T02:21:13.445Z,1628821273.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:13.825Z,1628821273.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:13.825Z,1628821273.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:13.826Z,1628821273.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:13.826Z,1628821273.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:14.225Z,1628821274.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0060D,183,80,80,B3,FF
2021-08-13T02:21:14.225Z,1628821274.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:14.225Z,1628821274.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:14.227Z,1628821274.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:14.637Z,1628821274.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:15.041Z,1628821275.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,005E5,185,80,80,95,FF
2021-08-13T02:21:15.042Z,1628821275.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:15.469Z,1628821275.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022115.75*59

2021-08-13T02:21:15.515Z,1628821275.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 239.376356 deg, deltaT: 4.414443 s, approachRate: -0.543669 m/s, LOS rate: -1.198372 deg/s, posRepo size: 4
2021-08-13T02:21:15.517Z,1628821275.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 239.376356 deg,
      approachRate: -0.543669 m/s,
      LOS rate: -1.198372 deg/s,
      cmd update: -3.595117 deg/s,
      cmd heading: 242.965343 deg,
      new cmd heading: 241.218107 deg.

2021-08-13T02:21:17.919Z,1628821277.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:18.300Z,1628821278.300 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:18.300Z,1628821278.300 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:18.301Z,1628821278.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:18.301Z,1628821278.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:18.673Z,1628821278.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,005E5,185,80,80,95,FF
2021-08-13T02:21:18.673Z,1628821278.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:18.673Z,1628821278.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:18.675Z,1628821278.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:19.104Z,1628821279.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:19.478Z,1628821279.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,005BC,186,80,80,AF,FF
2021-08-13T02:21:19.478Z,1628821279.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:19.930Z,1628821279.930 [Micromodem](INFO): Nmea in: $SNTTA,0.054019,,,,022120.20*48

2021-08-13T02:21:19.965Z,1628821279.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 241.812684 deg, deltaT: 4.465299 s, approachRate: -0.550915 m/s, LOS rate: 0.545614 deg/s, posRepo size: 4
2021-08-13T02:21:19.967Z,1628821279.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.580002 m,
      bearing: 241.812684 deg,
      approachRate: -0.550915 m/s,
      LOS rate: 0.545614 deg/s,
      cmd update: 1.636841 deg/s,
      cmd heading: 226.998833 deg,
      new cmd heading: 225.344106 deg.

2021-08-13T02:21:22.373Z,1628821282.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:22.717Z,1628821282.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:22.717Z,1628821282.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:22.718Z,1628821282.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:22.718Z,1628821282.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:23.141Z,1628821283.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,005BC,186,80,80,AF,FF
2021-08-13T02:21:23.141Z,1628821283.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:23.141Z,1628821283.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:23.143Z,1628821283.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:23.533Z,1628821283.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:24.350Z,1628821284.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022124.66*59

2021-08-13T02:21:25.159Z,1628821285.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:25.961Z,1628821285.961 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:21:26.762Z,1628821286.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,AF,FF
2021-08-13T02:21:26.762Z,1628821286.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,AF,FF
2021-08-13T02:21:26.762Z,1628821286.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:21:28.032Z,1628821288.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:28.369Z,1628821288.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:28.369Z,1628821288.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:28.369Z,1628821288.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:28.370Z,1628821288.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:28.774Z,1628821288.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,AF,FF
2021-08-13T02:21:28.774Z,1628821288.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:28.774Z,1628821288.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:28.778Z,1628821288.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:29.188Z,1628821289.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:29.582Z,1628821289.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00566,186,80,80,79,FF
2021-08-13T02:21:29.582Z,1628821289.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:30.022Z,1628821290.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022130.30*5F

2021-08-13T02:21:30.061Z,1628821290.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 248.754779 deg, deltaT: 10.136610 s, approachRate: -0.509046 m/s, LOS rate: 0.684854 deg/s, posRepo size: 4
2021-08-13T02:21:30.063Z,1628821290.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 248.754779 deg,
      approachRate: -0.509046 m/s,
      LOS rate: 0.684854 deg/s,
      cmd update: 2.054561 deg/s,
      cmd heading: 243.624009 deg,
      new cmd heading: 244.277350 deg.

2021-08-13T02:21:32.461Z,1628821292.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:32.813Z,1628821292.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:32.813Z,1628821292.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:32.813Z,1628821292.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:32.814Z,1628821292.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:33.217Z,1628821293.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00566,186,80,80,79,FF
2021-08-13T02:21:33.217Z,1628821293.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:33.217Z,1628821293.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:33.219Z,1628821293.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:33.624Z,1628821293.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:34.025Z,1628821294.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,0053E,184,80,80,99,FF
2021-08-13T02:21:34.025Z,1628821294.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:34.474Z,1628821294.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022134.74*5B

2021-08-13T02:21:34.531Z,1628821294.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 247.277928 deg, deltaT: 4.420240 s, approachRate: -0.542957 m/s, LOS rate: -0.334111 deg/s, posRepo size: 4
2021-08-13T02:21:34.541Z,1628821294.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.019997 m,
      bearing: 247.277928 deg,
      approachRate: -0.542957 m/s,
      LOS rate: -0.334111 deg/s,
      cmd update: -1.002333 deg/s,
      cmd heading: 252.664630 deg,
      new cmd heading: 253.627676 deg.

2021-08-13T02:21:36.901Z,1628821296.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:37.264Z,1628821297.264 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:37.265Z,1628821297.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:37.265Z,1628821297.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:37.267Z,1628821297.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:37.669Z,1628821297.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,0053E,184,80,80,99,FF
2021-08-13T02:21:37.669Z,1628821297.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:37.669Z,1628821297.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:37.671Z,1628821297.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:38.072Z,1628821298.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:38.474Z,1628821298.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00514,186,80,80,B6,FF
2021-08-13T02:21:38.475Z,1628821298.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:38.913Z,1628821298.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022139.19*5D

2021-08-13T02:21:38.947Z,1628821298.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 246.306621 deg, deltaT: 4.421126 s, approachRate: -0.569990 m/s, LOS rate: -0.219697 deg/s, posRepo size: 4
2021-08-13T02:21:38.949Z,1628821298.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.500000 m,
      bearing: 246.306621 deg,
      approachRate: -0.569990 m/s,
      LOS rate: -0.219697 deg/s,
      cmd update: -0.659091 deg/s,
      cmd heading: 248.209334 deg,
      new cmd heading: 247.768484 deg.

2021-08-13T02:21:41.368Z,1628821301.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:41.713Z,1628821301.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:41.713Z,1628821301.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:41.714Z,1628821301.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:41.715Z,1628821301.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:42.109Z,1628821302.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00514,186,80,80,B6,FF
2021-08-13T02:21:42.109Z,1628821302.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:42.109Z,1628821302.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:42.111Z,1628821302.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:42.513Z,1628821302.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:42.925Z,1628821302.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,004EA,185,80,80,7F,FF
2021-08-13T02:21:42.925Z,1628821302.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:43.365Z,1628821303.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022143.63*5D

2021-08-13T02:21:43.391Z,1628821303.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 248.307074 deg, deltaT: 4.467632 s, approachRate: -0.564057 m/s, LOS rate: 0.447766 deg/s, posRepo size: 4
2021-08-13T02:21:43.393Z,1628821303.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 248.307074 deg,
      approachRate: -0.564057 m/s,
      LOS rate: 0.447766 deg/s,
      cmd update: 1.343298 deg/s,
      cmd heading: 245.267325 deg,
      new cmd heading: 244.990131 deg.

2021-08-13T02:21:43.793Z,1628821303.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:21:43.793Z,1628821303.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:21:43.793Z,1628821303.793 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:21:43.794Z,1628821303.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:21:43.794Z,1628821303.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:21:43.794Z,1628821303.794 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:21:44.169Z,1628821304.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:21:44.169Z,1628821304.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:21:44.170Z,1628821304.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:21:44.170Z,1628821304.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:21:45.820Z,1628821305.820 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:21:45.836Z,1628821305.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:46.149Z,1628821306.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:46.149Z,1628821306.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:46.149Z,1628821306.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:46.150Z,1628821306.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:46.553Z,1628821306.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,004EA,185,80,80,7F,FF
2021-08-13T02:21:46.554Z,1628821306.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:46.554Z,1628821306.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:46.555Z,1628821306.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:46.957Z,1628821306.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:47.361Z,1628821307.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,004B9,182,80,80,AC,FF
2021-08-13T02:21:47.361Z,1628821307.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:47.415Z,1628821307.415 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:21:47.821Z,1628821307.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022148.08*5B

2021-08-13T02:21:47.890Z,1628821307.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 249.644862 deg, deltaT: 4.442286 s, approachRate: -0.661821 m/s, LOS rate: 0.301149 deg/s, posRepo size: 4
2021-08-13T02:21:47.897Z,1628821307.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.040001 m,
      bearing: 249.644862 deg,
      approachRate: -0.661821 m/s,
      LOS rate: 0.301149 deg/s,
      cmd update: 0.903446 deg/s,
      cmd heading: 251.228723 deg,
      new cmd heading: 251.876190 deg.

2021-08-13T02:21:50.226Z,1628821310.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:50.597Z,1628821310.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:50.597Z,1628821310.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:50.597Z,1628821310.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:50.598Z,1628821310.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:50.997Z,1628821310.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,004B9,182,80,80,AC,FF
2021-08-13T02:21:50.997Z,1628821310.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:50.997Z,1628821310.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:50.999Z,1628821310.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:51.404Z,1628821311.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:51.827Z,1628821311.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00494,186,80,80,88,FF
2021-08-13T02:21:51.828Z,1628821311.828 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:51.835Z,1628821311.835 [Micromodem](INFO): Nmea in: $SNTTA,0.306374,0.265673,,,022152.52*59

2021-08-13T02:21:51.915Z,1628821311.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:21:52.289Z,1628821312.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 248.271776 deg, deltaT: 4.495874 s, approachRate: -0.493786 m/s, LOS rate: -0.305410 deg/s, posRepo size: 4
2021-08-13T02:21:52.291Z,1628821312.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 248.271776 deg,
      approachRate: -0.493786 m/s,
      LOS rate: -0.305410 deg/s,
      cmd update: -0.916231 deg/s,
      cmd heading: 255.297628 deg,
      new cmd heading: 255.634049 deg.

2021-08-13T02:21:54.667Z,1628821314.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:55.033Z,1628821315.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:55.033Z,1628821315.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:55.033Z,1628821315.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:55.034Z,1628821315.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:55.437Z,1628821315.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00494,186,80,80,88,FF
2021-08-13T02:21:55.437Z,1628821315.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:55.438Z,1628821315.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:55.439Z,1628821315.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:21:55.859Z,1628821315.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:21:56.256Z,1628821316.256 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,0046A,186,80,80,4B,FF
2021-08-13T02:21:56.258Z,1628821316.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:21:56.355Z,1628821316.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:21:56.690Z,1628821316.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022156.96*53

2021-08-13T02:21:56.712Z,1628821316.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 247.490402 deg, deltaT: 4.448013 s, approachRate: -0.566545 m/s, LOS rate: -0.175668 deg/s, posRepo size: 4
2021-08-13T02:21:56.714Z,1628821316.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.300001 m,
      bearing: 247.490402 deg,
      approachRate: -0.566545 m/s,
      LOS rate: -0.175668 deg/s,
      cmd update: -0.527004 deg/s,
      cmd heading: 251.230084 deg,
      new cmd heading: 250.900239 deg.

2021-08-13T02:21:59.111Z,1628821319.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:21:59.485Z,1628821319.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:21:59.485Z,1628821319.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:21:59.485Z,1628821319.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:21:59.486Z,1628821319.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:21:59.882Z,1628821319.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,0046A,186,80,80,4B,FF
2021-08-13T02:21:59.882Z,1628821319.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:21:59.882Z,1628821319.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:21:59.885Z,1628821319.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:00.321Z,1628821320.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:00.693Z,1628821320.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,0043D,186,80,80,A9,FF
2021-08-13T02:22:00.693Z,1628821320.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:00.713Z,1628821320.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:01.133Z,1628821321.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022201.41*58

2021-08-13T02:22:01.170Z,1628821321.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 247.323773 deg, deltaT: 4.349724 s, approachRate: -0.620729 m/s, LOS rate: -0.038308 deg/s, posRepo size: 4
2021-08-13T02:22:01.172Z,1628821321.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.600000 m,
      bearing: 247.323773 deg,
      approachRate: -0.620729 m/s,
      LOS rate: -0.038308 deg/s,
      cmd update: -0.114924 deg/s,
      cmd heading: 248.933070 deg,
      new cmd heading: 248.690786 deg.

2021-08-13T02:22:03.569Z,1628821323.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:03.925Z,1628821323.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:03.925Z,1628821323.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:03.925Z,1628821323.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:03.926Z,1628821323.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:04.334Z,1628821324.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,0043D,186,80,80,A9,FF
2021-08-13T02:22:04.334Z,1628821324.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:04.334Z,1628821324.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:04.335Z,1628821324.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:04.732Z,1628821324.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:05.141Z,1628821325.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00413,184,80,80,80,FF
2021-08-13T02:22:05.141Z,1628821325.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:05.161Z,1628821325.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:05.586Z,1628821325.586 [Micromodem](INFO): Nmea in: $SNTTA,0.042808,,,,022205.86*4F

2021-08-13T02:22:05.613Z,1628821325.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 248.007666 deg, deltaT: 4.448131 s, approachRate: -0.566531 m/s, LOS rate: 0.153748 deg/s, posRepo size: 4
2021-08-13T02:22:05.615Z,1628821325.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 248.007666 deg,
      approachRate: -0.566531 m/s,
      LOS rate: 0.153748 deg/s,
      cmd update: 0.461245 deg/s,
      cmd heading: 248.421883 deg,
      new cmd heading: 248.369695 deg.

2021-08-13T02:22:08.009Z,1628821328.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:08.365Z,1628821328.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:08.365Z,1628821328.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:08.365Z,1628821328.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:08.366Z,1628821328.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:08.777Z,1628821328.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00413,184,80,80,80,FF
2021-08-13T02:22:08.777Z,1628821328.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:08.777Z,1628821328.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:08.779Z,1628821328.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:09.187Z,1628821329.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:09.577Z,1628821329.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,003ED,186,80,80,AF,FF
2021-08-13T02:22:09.577Z,1628821329.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:09.644Z,1628821329.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:10.001Z,1628821330.001 [Micromodem](INFO): Nmea in: $SNTTA,0.076714,0.377633,,,022210.30*58

2021-08-13T02:22:10.053Z,1628821330.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 246.005819 deg, deltaT: 4.482889 s, approachRate: -0.508601 m/s, LOS rate: -0.446553 deg/s, posRepo size: 4
2021-08-13T02:22:10.055Z,1628821330.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 246.005819 deg,
      approachRate: -0.508601 m/s,
      LOS rate: -0.446553 deg/s,
      cmd update: -1.339658 deg/s,
      cmd heading: 250.485810 deg,
      new cmd heading: 250.677536 deg.

2021-08-13T02:22:12.450Z,1628821332.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:12.809Z,1628821332.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:12.809Z,1628821332.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:12.809Z,1628821332.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:12.810Z,1628821332.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:13.218Z,1628821333.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,003ED,186,80,80,AF,FF
2021-08-13T02:22:13.218Z,1628821333.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:13.218Z,1628821333.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:13.220Z,1628821333.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:13.632Z,1628821333.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:14.025Z,1628821334.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,003C8,187,80,80,9E,FF
2021-08-13T02:22:14.026Z,1628821334.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:14.029Z,1628821334.029 [Micromodem](INFO): Nmea in: $SNTTA,0.036814,0.193958,,,022214.74*5D

2021-08-13T02:22:14.115Z,1628821334.115 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:14.483Z,1628821334.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 246.260531 deg, deltaT: 4.470770 s, approachRate: -0.496558 m/s, LOS rate: 0.056973 deg/s, posRepo size: 4
2021-08-13T02:22:14.489Z,1628821334.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.580000 m,
      bearing: 246.260531 deg,
      approachRate: -0.496558 m/s,
      LOS rate: 0.056973 deg/s,
      cmd update: 0.170918 deg/s,
      cmd heading: 244.490845 deg,
      new cmd heading: 243.988548 deg.

2021-08-13T02:22:16.895Z,1628821336.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:17.270Z,1628821337.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:17.270Z,1628821337.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:17.271Z,1628821337.271 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:17.272Z,1628821337.272 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:17.665Z,1628821337.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,003C8,187,80,80,9E,FF
2021-08-13T02:22:17.665Z,1628821337.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:17.665Z,1628821337.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:17.667Z,1628821337.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:18.068Z,1628821338.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:18.481Z,1628821338.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,003A7,184,80,80,73,FF
2021-08-13T02:22:18.481Z,1628821338.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:18.540Z,1628821338.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:18.913Z,1628821338.913 [Micromodem](INFO): Nmea in: $SNTTA,0.032357,,,,022219.19*42

2021-08-13T02:22:18.944Z,1628821338.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 245.991722 deg, deltaT: 4.424951 s, approachRate: -0.447463 m/s, LOS rate: -0.060748 deg/s, posRepo size: 4
2021-08-13T02:22:18.946Z,1628821338.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.599998 m,
      bearing: 245.991722 deg,
      approachRate: -0.447463 m/s,
      LOS rate: -0.060748 deg/s,
      cmd update: -0.182245 deg/s,
      cmd heading: 245.247119 deg,
      new cmd heading: 245.317372 deg.

2021-08-13T02:22:21.365Z,1628821341.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:21.716Z,1628821341.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:21.717Z,1628821341.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:21.717Z,1628821341.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:21.719Z,1628821341.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:22.101Z,1628821342.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,003A7,184,80,80,73,FF
2021-08-13T02:22:22.101Z,1628821342.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:22.101Z,1628821342.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:22.103Z,1628821342.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:22.521Z,1628821342.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:23.374Z,1628821343.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022223.62*59

2021-08-13T02:22:24.154Z,1628821344.154 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T02:22:24.186Z,1628821344.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:25.767Z,1628821345.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,73,FF
2021-08-13T02:22:25.767Z,1628821345.767 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,73,FF
2021-08-13T02:22:25.767Z,1628821345.767 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:22:26.971Z,1628821346.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:27.369Z,1628821347.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:27.370Z,1628821347.370 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:27.370Z,1628821347.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:27.371Z,1628821347.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:27.797Z,1628821347.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,73,FF
2021-08-13T02:22:27.797Z,1628821347.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:27.797Z,1628821347.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:27.799Z,1628821347.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:28.178Z,1628821348.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:28.565Z,1628821348.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,0033F,184,80,80,B4,FF
2021-08-13T02:22:28.565Z,1628821348.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:28.637Z,1628821348.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:28.991Z,1628821348.991 [Micromodem](INFO): Nmea in: $SNTTA,0.008020,,,,022229.32*42

2021-08-13T02:22:29.036Z,1628821349.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 246.031419 deg, deltaT: 10.097246 s, approachRate: -0.617990 m/s, LOS rate: 0.003931 deg/s, posRepo size: 4
2021-08-13T02:22:29.038Z,1628821349.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 246.031419 deg,
      approachRate: -0.617990 m/s,
      LOS rate: 0.003931 deg/s,
      cmd update: 0.011794 deg/s,
      cmd heading: 243.406936 deg,
      new cmd heading: 243.333032 deg.

2021-08-13T02:22:31.466Z,1628821351.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:31.817Z,1628821351.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:31.817Z,1628821351.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:31.817Z,1628821351.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:31.818Z,1628821351.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:32.211Z,1628821352.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,0033F,184,80,80,B4,FF
2021-08-13T02:22:32.211Z,1628821352.211 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:32.212Z,1628821352.212 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:32.215Z,1628821352.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:32.608Z,1628821352.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:33.005Z,1628821353.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,00316,185,80,80,BB,FF
2021-08-13T02:22:33.006Z,1628821353.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:33.084Z,1628821353.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:33.454Z,1628821353.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022233.74*5F

2021-08-13T02:22:33.480Z,1628821353.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 243.075122 deg, deltaT: 4.447538 s, approachRate: -0.553116 m/s, LOS rate: -0.664704 deg/s, posRepo size: 4
2021-08-13T02:22:33.482Z,1628821353.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 243.075122 deg,
      approachRate: -0.553116 m/s,
      LOS rate: -0.664704 deg/s,
      cmd update: -1.994113 deg/s,
      cmd heading: 243.459254 deg,
      new cmd heading: 243.464140 deg.

2021-08-13T02:22:35.936Z,1628821355.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:36.241Z,1628821356.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:36.242Z,1628821356.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:36.242Z,1628821356.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:36.243Z,1628821356.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:36.651Z,1628821356.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,00316,185,80,80,BB,FF
2021-08-13T02:22:36.651Z,1628821356.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:36.651Z,1628821356.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:36.653Z,1628821356.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:37.049Z,1628821357.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:37.883Z,1628821357.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022238.17*51

2021-08-13T02:22:38.683Z,1628821358.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:40.304Z,1628821360.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,BB,FF
2021-08-13T02:22:40.305Z,1628821360.305 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,BB,FF
2021-08-13T02:22:40.305Z,1628821360.305 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:22:41.530Z,1628821361.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:41.905Z,1628821361.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:41.905Z,1628821361.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:41.905Z,1628821361.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:41.906Z,1628821361.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:42.325Z,1628821362.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,BB,FF
2021-08-13T02:22:42.325Z,1628821362.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:42.325Z,1628821362.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:42.327Z,1628821362.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:42.708Z,1628821362.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:43.113Z,1628821363.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,002CD,189,80,80,8C,FF
2021-08-13T02:22:43.114Z,1628821363.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:43.133Z,1628821363.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:43.541Z,1628821363.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022243.85*56

2021-08-13T02:22:43.582Z,1628821363.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 192.824723 deg, deltaT: 10.048728 s, approachRate: -0.435876 m/s, LOS rate: -5.000673 deg/s, posRepo size: 4
2021-08-13T02:22:43.584Z,1628821363.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 192.824723 deg,
      approachRate: -0.435876 m/s,
      LOS rate: -5.000673 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 223.389378 deg,
      new cmd heading: 222.489346 deg.

2021-08-13T02:22:46.016Z,1628821366.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:46.349Z,1628821366.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:46.349Z,1628821366.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:46.349Z,1628821366.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:46.350Z,1628821366.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:46.745Z,1628821366.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,002CD,189,80,80,8C,FF
2021-08-13T02:22:46.745Z,1628821366.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:46.746Z,1628821366.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:46.747Z,1628821366.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:47.152Z,1628821367.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:47.561Z,1628821367.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,002BE,184,80,80,9A,FF
2021-08-13T02:22:47.562Z,1628821367.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:47.592Z,1628821367.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:47.965Z,1628821367.965 [Micromodem](INFO): Nmea in: $SNTTA,0.433642,0.432654,,,022248.27*53

2021-08-13T02:22:48.019Z,1628821368.019 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T02:22:48.019Z,1628821368.019 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:22:48.019Z,1628821368.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T02:22:48.019Z,1628821368.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:22:48.019Z,1628821368.019 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T02:22:48.036Z,1628821368.036 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-08-13T02:22:48.036Z,1628821368.036 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T02:22:48.036Z,1628821368.036 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T02:22:48.036Z,1628821368.036 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T02:22:48.039Z,1628821368.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 217.459071 deg, deltaT: 4.458381 s, approachRate: -0.201867 m/s, LOS rate: 5.525402 deg/s, posRepo size: 4
2021-08-13T02:22:48.045Z,1628821368.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 217.459071 deg,
      approachRate: -0.201867 m/s,
      LOS rate: 5.525402 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 169.890605 deg,
      new cmd heading: 164.485397 deg.

2021-08-13T02:22:48.411Z,1628821368.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T022248: (41.552319, -70.708603)
2021-08-13T02:22:48.411Z,1628821368.411 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T02:22:48.412Z,1628821368.412 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T02:22:48.413Z,1628821368.413 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:22:50.422Z,1628821370.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:50.785Z,1628821370.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:50.785Z,1628821370.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:50.785Z,1628821370.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:50.786Z,1628821370.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:51.220Z,1628821371.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,002BE,184,80,80,9A,FF
2021-08-13T02:22:51.221Z,1628821371.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:51.221Z,1628821371.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:51.223Z,1628821371.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:51.606Z,1628821371.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:52.012Z,1628821372.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,002EF,187,80,80,58,FF
2021-08-13T02:22:52.012Z,1628821372.012 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:52.072Z,1628821372.072 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:52.437Z,1628821372.437 [Micromodem](INFO): Nmea in: $SNTTA,0.037224,,,,022252.74*46

2021-08-13T02:22:52.463Z,1628821372.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 211.121216 deg, deltaT: 4.479910 s, approachRate: 0.656263 m/s, LOS rate: -1.414728 deg/s, posRepo size: 4
2021-08-13T02:22:52.465Z,1628821372.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.559999 m,
      bearing: 211.121216 deg,
      approachRate: 0.656263 m/s,
      LOS rate: -1.414728 deg/s,
      cmd update: -4.244185 deg/s,
      cmd heading: 223.409646 deg,
      new cmd heading: 228.385146 deg.

2021-08-13T02:22:54.854Z,1628821374.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:55.248Z,1628821375.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:22:55.249Z,1628821375.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:22:55.249Z,1628821375.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:22:55.250Z,1628821375.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:22:55.649Z,1628821375.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,002EF,187,80,80,58,FF
2021-08-13T02:22:55.649Z,1628821375.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:22:55.649Z,1628821375.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:22:55.651Z,1628821375.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:22:56.060Z,1628821376.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:22:56.871Z,1628821376.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022257.17*58

2021-08-13T02:22:57.670Z,1628821377.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:22:58.057Z,1628821378.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,05150,186,80,80,76,FF
2021-08-13T02:22:58.057Z,1628821378.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:22:58.121Z,1628821378.121 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:22:58.509Z,1628821378.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1211.460083 m, bearing: 219.525859 deg, deltaT: 6.049258 s, approachRate: 199.016144 m/s, LOS rate: 1.389368 deg/s, posRepo size: 4
2021-08-13T02:22:58.511Z,1628821378.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1211.460083 m,
      bearing: 219.525859 deg,
      approachRate: 199.016144 m/s,
      LOS rate: 1.389368 deg/s,
      cmd update: 4.168103 deg/s,
      cmd heading: 197.667282 deg,
      new cmd heading: 195.991368 deg.

2021-08-13T02:22:58.909Z,1628821378.909 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:22:58.909Z,1628821378.909 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:22:58.909Z,1628821378.909 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:22:58.910Z,1628821378.910 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:22:58.910Z,1628821378.910 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:22:58.910Z,1628821378.910 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:22:59.313Z,1628821379.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:22:59.313Z,1628821379.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:22:59.313Z,1628821379.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:22:59.313Z,1628821379.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:23:00.910Z,1628821380.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:01.321Z,1628821381.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:01.321Z,1628821381.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:01.321Z,1628821381.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:01.322Z,1628821381.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:01.693Z,1628821381.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,05150,186,80,80,76,FF
2021-08-13T02:23:01.693Z,1628821381.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:01.693Z,1628821381.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:01.695Z,1628821381.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:02.101Z,1628821382.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:02.509Z,1628821382.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,00328,189,80,80,6C,FF
2021-08-13T02:23:02.509Z,1628821382.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:02.949Z,1628821382.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022303.22*5E

2021-08-13T02:23:02.971Z,1628821382.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 250.445688 deg, deltaT: 4.450401 s, approachRate: -269.746490 m/s, LOS rate: 6.947650 deg/s, posRepo size: 4
2021-08-13T02:23:02.974Z,1628821382.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.980000 m,
      bearing: 250.445688 deg,
      approachRate: -269.746490 m/s,
      LOS rate: 6.947650 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.201389 deg,
      new cmd heading: 217.913633 deg.

2021-08-13T02:23:03.371Z,1628821383.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:23:03.371Z,1628821383.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:03.371Z,1628821383.371 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:23:03.388Z,1628821383.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:23:03.388Z,1628821383.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:23:03.388Z,1628821383.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:23:03.803Z,1628821383.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:23:03.803Z,1628821383.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:03.803Z,1628821383.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:23:03.803Z,1628821383.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:05.385Z,1628821385.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:05.756Z,1628821385.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:05.757Z,1628821385.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:05.757Z,1628821385.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:05.758Z,1628821385.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:06.137Z,1628821386.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,00328,189,80,80,6C,FF
2021-08-13T02:23:06.137Z,1628821386.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:06.137Z,1628821386.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:06.139Z,1628821386.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:06.556Z,1628821386.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:06.941Z,1628821386.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,0035C,186,80,80,7C,FF
2021-08-13T02:23:06.942Z,1628821386.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:06.985Z,1628821386.985 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:07.390Z,1628821387.390 [Micromodem](INFO): Nmea in: $SNTTA,0.033541,,,,022307.66*44

2021-08-13T02:23:07.416Z,1628821387.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 228.031234 deg, deltaT: 4.413931 s, approachRate: 0.706853 m/s, LOS rate: -5.078116 deg/s, posRepo size: 4
2021-08-13T02:23:07.418Z,1628821387.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 228.031234 deg,
      approachRate: 0.706853 m/s,
      LOS rate: -5.078116 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.974690 deg,
      new cmd heading: 274.462974 deg.

2021-08-13T02:23:09.852Z,1628821389.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:10.181Z,1628821390.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:10.181Z,1628821390.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:10.182Z,1628821390.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:10.183Z,1628821390.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:10.593Z,1628821390.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,0035C,186,80,80,7C,FF
2021-08-13T02:23:10.593Z,1628821390.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:10.593Z,1628821390.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:10.595Z,1628821390.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:10.997Z,1628821390.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:11.393Z,1628821391.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,00372,189,80,80,6E,FF
2021-08-13T02:23:11.393Z,1628821391.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:11.423Z,1628821391.423 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:11.837Z,1628821391.837 [Micromodem](INFO): Nmea in: $SNTTA,0.036350,,,,022312.12*40

2021-08-13T02:23:11.898Z,1628821391.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 195.252118 deg, deltaT: 4.437949 s, approachRate: 0.297434 m/s, LOS rate: -7.386096 deg/s, posRepo size: 4
2021-08-13T02:23:11.912Z,1628821391.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 195.252118 deg,
      approachRate: 0.297434 m/s,
      LOS rate: -7.386096 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 215.432813 deg,
      new cmd heading: 209.695445 deg.

2021-08-13T02:23:14.277Z,1628821394.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:14.633Z,1628821394.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:14.633Z,1628821394.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:14.633Z,1628821394.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:14.634Z,1628821394.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:15.025Z,1628821395.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,00372,189,80,80,6E,FF
2021-08-13T02:23:15.025Z,1628821395.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:15.025Z,1628821395.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:15.027Z,1628821395.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:15.448Z,1628821395.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:15.878Z,1628821395.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00396,186,80,80,44,FF
2021-08-13T02:23:15.879Z,1628821395.879 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:15.884Z,1628821395.884 [Micromodem](INFO): Nmea in: $SNTTA,0.053458,0.292378,,,022316.55*50

2021-08-13T02:23:15.959Z,1628821395.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:16.312Z,1628821396.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 243.331527 deg, deltaT: 4.535418 s, approachRate: 0.476252 m/s, LOS rate: 10.600877 deg/s, posRepo size: 4
2021-08-13T02:23:16.314Z,1628821396.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 243.331527 deg,
      approachRate: 0.476252 m/s,
      LOS rate: 10.600877 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 161.053695 deg,
      new cmd heading: 156.732747 deg.

2021-08-13T02:23:18.709Z,1628821398.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:19.065Z,1628821399.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:19.065Z,1628821399.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:19.065Z,1628821399.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:19.066Z,1628821399.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:19.477Z,1628821399.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00396,186,80,80,44,FF
2021-08-13T02:23:19.477Z,1628821399.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:19.478Z,1628821399.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:19.479Z,1628821399.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:19.883Z,1628821399.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:20.297Z,1628821400.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,003B5,187,80,80,4F,FF
2021-08-13T02:23:20.298Z,1628821400.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:20.311Z,1628821400.311 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:23:20.326Z,1628821400.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:20.721Z,1628821400.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022321.00*5E

2021-08-13T02:23:20.743Z,1628821400.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 248.810104 deg, deltaT: 4.367586 s, approachRate: 0.425865 m/s, LOS rate: 1.254372 deg/s, posRepo size: 4
2021-08-13T02:23:20.744Z,1628821400.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.44 m. Rolling out.
2021-08-13T02:23:20.744Z,1628821400.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T02:23:23.135Z,1628821403.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:23.521Z,1628821403.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:23.521Z,1628821403.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:23.521Z,1628821403.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:23.522Z,1628821403.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:23.917Z,1628821403.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,003B5,187,80,80,4F,FF
2021-08-13T02:23:23.917Z,1628821403.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:23.917Z,1628821403.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:23.919Z,1628821403.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:24.345Z,1628821404.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:25.154Z,1628821405.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022325.44*5A

2021-08-13T02:23:25.962Z,1628821405.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,047E8,189,80,80,3E,FF
2021-08-13T02:23:25.962Z,1628821405.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:26.021Z,1628821406.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:26.557Z,1628821406.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1066.980103 m, bearing: 245.708324 deg, deltaT: 5.695071 s, approachRate: 183.938034 m/s, LOS rate: -0.544643 deg/s, posRepo size: 4
2021-08-13T02:23:26.557Z,1628821406.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 1066.98 m. Resuming terminal guidance.
2021-08-13T02:23:26.558Z,1628821406.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:23:26.786Z,1628821406.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:23:26.786Z,1628821406.786 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:23:26.787Z,1628821406.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:23:26.787Z,1628821406.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:23:26.787Z,1628821406.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:23:26.787Z,1628821406.787 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:23:27.177Z,1628821407.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:23:27.177Z,1628821407.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:23:27.177Z,1628821407.177 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:23:27.178Z,1628821407.178 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:23:28.785Z,1628821408.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:29.165Z,1628821409.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:29.165Z,1628821409.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:29.165Z,1628821409.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:29.166Z,1628821409.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:29.657Z,1628821409.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,047E8,189,80,80,3E,FF
2021-08-13T02:23:29.657Z,1628821409.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:29.657Z,1628821409.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:29.659Z,1628821409.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:30.040Z,1628821410.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:30.421Z,1628821410.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00410,189,80,80,53,FF
2021-08-13T02:23:30.421Z,1628821410.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:30.877Z,1628821410.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022331.18*56

2021-08-13T02:23:30.915Z,1628821410.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 248.517444 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:23:30.915Z,1628821410.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 24.90 m.
2021-08-13T02:23:30.920Z,1628821410.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 248.517444deg and heading rate command to 0 deg/s.
2021-08-13T02:23:31.235Z,1628821411.235 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:23:31.298Z,1628821411.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:23:31.298Z,1628821411.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:31.299Z,1628821411.299 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:23:31.299Z,1628821411.299 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:23:31.299Z,1628821411.299 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:23:31.299Z,1628821411.299 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:23:31.707Z,1628821411.707 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:23:31.712Z,1628821411.712 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:31.713Z,1628821411.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:23:31.713Z,1628821411.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:23:33.321Z,1628821413.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:33.657Z,1628821413.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:33.657Z,1628821413.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:33.657Z,1628821413.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:33.658Z,1628821413.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:34.053Z,1628821414.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00410,189,80,80,53,FF
2021-08-13T02:23:34.054Z,1628821414.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:34.054Z,1628821414.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:34.074Z,1628821414.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:34.465Z,1628821414.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:34.858Z,1628821414.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,00439,18A,80,80,36,FF
2021-08-13T02:23:34.859Z,1628821414.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:34.921Z,1628821414.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:35.298Z,1628821415.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022335.59*57

2021-08-13T02:23:35.325Z,1628821415.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 257.629845 deg, deltaT: 4.441715 s, approachRate: 0.553840 m/s, LOS rate: 2.051550 deg/s, posRepo size: 2
2021-08-13T02:23:35.325Z,1628821415.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 27.36 m.
2021-08-13T02:23:35.325Z,1628821415.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 27.36 m.
2021-08-13T02:23:35.326Z,1628821415.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T02:23:35.328Z,1628821415.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.359999 m,
      bearing: 257.629845 deg,
      approachRate: 0.553840 m/s,
      LOS rate: 2.051550 deg/s,
      cmd update: 6.154651 deg/s,
      cmd heading: 248.517444 deg,
      new cmd heading: 248.517444 deg.

2021-08-13T02:23:37.764Z,1628821417.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:38.090Z,1628821418.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:38.091Z,1628821418.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:38.091Z,1628821418.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:38.092Z,1628821418.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:38.497Z,1628821418.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,00439,18A,80,80,36,FF
2021-08-13T02:23:38.498Z,1628821418.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:38.498Z,1628821418.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:38.500Z,1628821418.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:38.915Z,1628821418.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:39.321Z,1628821419.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00462,186,80,80,9E,FF
2021-08-13T02:23:39.321Z,1628821419.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:39.393Z,1628821419.393 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:39.762Z,1628821419.762 [Micromodem](INFO): Nmea in: $SNTTA,0.048990,,,,022340.02*49

2021-08-13T02:23:39.830Z,1628821419.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 251.899890 deg, deltaT: 4.472427 s, approachRate: 0.550037 m/s, LOS rate: -1.281173 deg/s, posRepo size: 3
2021-08-13T02:23:39.836Z,1628821419.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.819998 m,
      bearing: 251.899890 deg,
      approachRate: 0.550037 m/s,
      LOS rate: -1.281173 deg/s,
      cmd update: -3.843520 deg/s,
      cmd heading: 276.011801 deg,
      new cmd heading: 278.776894 deg.

2021-08-13T02:23:42.170Z,1628821422.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:42.537Z,1628821422.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:42.537Z,1628821422.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:42.538Z,1628821422.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:42.538Z,1628821422.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:42.941Z,1628821422.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00462,186,80,80,9E,FF
2021-08-13T02:23:42.941Z,1628821422.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:42.941Z,1628821422.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:42.943Z,1628821422.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:43.341Z,1628821423.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:43.787Z,1628821423.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,00481,186,80,80,8B,FF
2021-08-13T02:23:43.787Z,1628821423.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:43.894Z,1628821423.894 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:44.194Z,1628821424.194 [Micromodem](INFO): Nmea in: $SNTTA,0.065715,,,,022344.46*41

2021-08-13T02:23:44.215Z,1628821424.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 272.485261 deg, deltaT: 4.500610 s, approachRate: 0.413277 m/s, LOS rate: 4.573907 deg/s, posRepo size: 4
2021-08-13T02:23:44.217Z,1628821424.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.679998 m,
      bearing: 272.485261 deg,
      approachRate: 0.413277 m/s,
      LOS rate: 4.573907 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.693870 deg,
      new cmd heading: 257.430548 deg.

2021-08-13T02:23:46.611Z,1628821426.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:46.973Z,1628821426.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:46.973Z,1628821426.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:46.974Z,1628821426.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:46.975Z,1628821426.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:47.381Z,1628821427.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA5,000,00481,186,80,80,8B,FF
2021-08-13T02:23:47.382Z,1628821427.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:47.382Z,1628821427.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:47.383Z,1628821427.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:47.808Z,1628821427.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:48.189Z,1628821428.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00498,187,80,80,64,FF
2021-08-13T02:23:48.189Z,1628821428.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:48.297Z,1628821428.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:48.633Z,1628821428.633 [Micromodem](INFO): Nmea in: $SNTTA,0.034608,,,,022348.90*4F

2021-08-13T02:23:48.656Z,1628821428.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 278.533830 deg, deltaT: 4.403798 s, approachRate: 0.313367 m/s, LOS rate: 1.373489 deg/s, posRepo size: 4
2021-08-13T02:23:48.657Z,1628821428.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 33.06 m. Rolling out.
2021-08-13T02:23:48.657Z,1628821428.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T02:23:51.046Z,1628821431.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:51.421Z,1628821431.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:51.421Z,1628821431.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:51.421Z,1628821431.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:51.422Z,1628821431.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:51.825Z,1628821431.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00498,187,80,80,64,FF
2021-08-13T02:23:51.825Z,1628821431.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:51.825Z,1628821431.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:51.827Z,1628821431.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:52.290Z,1628821432.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:53.074Z,1628821433.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022353.35*5D

2021-08-13T02:23:53.925Z,1628821433.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:55.489Z,1628821435.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,64,FF
2021-08-13T02:23:55.489Z,1628821435.489 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,64,FF
2021-08-13T02:23:55.489Z,1628821435.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:23:56.751Z,1628821436.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:23:57.109Z,1628821437.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:23:57.109Z,1628821437.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:23:57.109Z,1628821437.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:23:57.110Z,1628821437.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:23:57.514Z,1628821437.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,64,FF
2021-08-13T02:23:57.514Z,1628821437.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:23:57.514Z,1628821437.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:23:57.516Z,1628821437.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:23:57.926Z,1628821437.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:23:58.337Z,1628821438.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC3,000,004A9,189,80,80,80,FF
2021-08-13T02:23:58.338Z,1628821438.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:23:58.411Z,1628821438.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:23:58.781Z,1628821438.781 [Micromodem](INFO): Nmea in: $SNTTA,0.050387,,,,022359.04*42

2021-08-13T02:23:58.797Z,1628821438.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 342.052732 deg, deltaT: 10.113385 s, approachRate: 0.100856 m/s, LOS rate: 6.280677 deg/s, posRepo size: 4
2021-08-13T02:24:01.171Z,1628821441.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:01.557Z,1628821441.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:01.557Z,1628821441.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:01.557Z,1628821441.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:01.558Z,1628821441.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:01.965Z,1628821441.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC3,000,004A9,189,80,80,80,FF
2021-08-13T02:24:01.965Z,1628821441.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:01.966Z,1628821441.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:01.967Z,1628821441.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:02.373Z,1628821442.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:02.769Z,1628821442.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,003C8,185,80,80,5C,FF
2021-08-13T02:24:02.770Z,1628821442.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:02.826Z,1628821442.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:03.209Z,1628821443.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022403.49*54

2021-08-13T02:24:03.235Z,1628821443.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 344.228284 deg, deltaT: 4.415203 s, approachRate: -3.057617 m/s, LOS rate: 0.492741 deg/s, posRepo size: 4
2021-08-13T02:24:05.625Z,1628821445.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:05.993Z,1628821445.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:05.993Z,1628821445.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:05.993Z,1628821445.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:05.994Z,1628821445.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:06.397Z,1628821446.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,003C8,185,80,80,5C,FF
2021-08-13T02:24:06.397Z,1628821446.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:06.397Z,1628821446.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:06.399Z,1628821446.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:06.812Z,1628821446.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:07.205Z,1628821447.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,004A7,183,80,80,73,FF
2021-08-13T02:24:07.205Z,1628821447.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:07.294Z,1628821447.294 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:07.657Z,1628821447.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022407.92*56

2021-08-13T02:24:07.741Z,1628821447.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 318.446123 deg, deltaT: 4.467959 s, approachRate: 2.994656 m/s, LOS rate: -5.770456 deg/s, posRepo size: 4
2021-08-13T02:24:10.072Z,1628821450.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:10.441Z,1628821450.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:10.441Z,1628821450.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:10.441Z,1628821450.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:10.442Z,1628821450.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:10.846Z,1628821450.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,004A7,183,80,80,73,FF
2021-08-13T02:24:10.846Z,1628821450.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:10.846Z,1628821450.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:10.849Z,1628821450.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:11.253Z,1628821451.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:11.649Z,1628821451.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,004A9,186,80,80,60,FF
2021-08-13T02:24:11.649Z,1628821451.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:11.669Z,1628821451.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:12.093Z,1628821452.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022412.37*5D

2021-08-13T02:24:12.151Z,1628821452.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 300.202742 deg, deltaT: 4.375500 s, approachRate: 0.027425 m/s, LOS rate: -4.169439 deg/s, posRepo size: 4
2021-08-13T02:24:14.523Z,1628821454.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:14.882Z,1628821454.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:14.883Z,1628821454.883 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:14.883Z,1628821454.883 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:14.884Z,1628821454.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:15.309Z,1628821455.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,004A9,186,80,80,60,FF
2021-08-13T02:24:15.309Z,1628821455.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:15.309Z,1628821455.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:15.311Z,1628821455.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:15.692Z,1628821455.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:16.101Z,1628821456.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,004AF,189,80,80,35,FF
2021-08-13T02:24:16.101Z,1628821456.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:16.218Z,1628821456.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:16.521Z,1628821456.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022416.83*56

2021-08-13T02:24:16.578Z,1628821456.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 287.647652 deg, deltaT: 4.548605 s, approachRate: 0.079145 m/s, LOS rate: -2.760207 deg/s, posRepo size: 4
2021-08-13T02:24:18.943Z,1628821458.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:19.329Z,1628821459.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:19.329Z,1628821459.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:19.329Z,1628821459.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:19.330Z,1628821459.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:19.757Z,1628821459.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,004AF,189,80,80,35,FF
2021-08-13T02:24:19.757Z,1628821459.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:19.758Z,1628821459.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:19.766Z,1628821459.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:20.137Z,1628821460.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:20.541Z,1628821460.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBF,000,004BA,189,80,80,30,FF
2021-08-13T02:24:20.542Z,1628821460.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:20.572Z,1628821460.572 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:20.989Z,1628821460.989 [Micromodem](INFO): Nmea in: $SNTTA,0.036177,,,,022421.29*48

2021-08-13T02:24:21.019Z,1628821461.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 359.390484 deg, deltaT: 4.354184 s, approachRate: 0.151578 m/s, LOS rate: 16.476757 deg/s, posRepo size: 4
2021-08-13T02:24:23.414Z,1628821463.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:23.797Z,1628821463.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:23.797Z,1628821463.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:23.797Z,1628821463.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:23.798Z,1628821463.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:24.173Z,1628821464.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBF,000,004BA,189,80,80,30,FF
2021-08-13T02:24:24.173Z,1628821464.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:24.173Z,1628821464.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:24.175Z,1628821464.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:24.581Z,1628821464.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:24.989Z,1628821464.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5D,000,004CB,18A,80,80,9A,FF
2021-08-13T02:24:24.989Z,1628821464.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:25.010Z,1628821465.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:25.429Z,1628821465.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022425.70*5A

2021-08-13T02:24:25.455Z,1628821465.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 351.776408 deg, deltaT: 4.437376 s, approachRate: 0.229866 m/s, LOS rate: -1.715896 deg/s, posRepo size: 4
2021-08-13T02:24:27.908Z,1628821467.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:28.213Z,1628821468.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:28.213Z,1628821468.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:28.213Z,1628821468.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:28.214Z,1628821468.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:28.625Z,1628821468.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5D,000,004CB,18A,80,80,9A,FF
2021-08-13T02:24:28.625Z,1628821468.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:28.625Z,1628821468.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:28.627Z,1628821468.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:29.025Z,1628821469.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:29.441Z,1628821469.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,004DD,186,80,80,44,FF
2021-08-13T02:24:29.441Z,1628821469.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:29.526Z,1628821469.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:29.878Z,1628821469.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022430.15*5D

2021-08-13T02:24:29.933Z,1628821469.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 338.956744 deg, deltaT: 4.516187 s, approachRate: 0.239140 m/s, LOS rate: -2.838603 deg/s, posRepo size: 4
2021-08-13T02:24:32.326Z,1628821472.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:32.665Z,1628821472.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:32.665Z,1628821472.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:32.665Z,1628821472.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:32.666Z,1628821472.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:33.061Z,1628821473.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,004DD,186,80,80,44,FF
2021-08-13T02:24:33.061Z,1628821473.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:33.061Z,1628821473.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:33.063Z,1628821473.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:33.490Z,1628821473.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:33.870Z,1628821473.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,004F6,186,80,80,6A,FF
2021-08-13T02:24:33.870Z,1628821473.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:33.953Z,1628821473.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:34.341Z,1628821474.341 [Micromodem](INFO): Nmea in: $SNTTA,0.148736,,,,022434.59*40

2021-08-13T02:24:34.385Z,1628821474.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 302.920584 deg, deltaT: 4.426711 s, approachRate: 0.338851 m/s, LOS rate: -8.140617 deg/s, posRepo size: 4
2021-08-13T02:24:36.735Z,1628821476.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:37.101Z,1628821477.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:37.101Z,1628821477.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:37.101Z,1628821477.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:37.102Z,1628821477.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:37.514Z,1628821477.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,004F6,186,80,80,6A,FF
2021-08-13T02:24:37.515Z,1628821477.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:37.515Z,1628821477.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:37.517Z,1628821477.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:37.924Z,1628821477.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:38.350Z,1628821478.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,00506,189,80,80,4C,FF
2021-08-13T02:24:38.350Z,1628821478.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:38.401Z,1628821478.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:38.757Z,1628821478.757 [Micromodem](INFO): Nmea in: $SNTTA,0.043249,,,,022439.04*42

2021-08-13T02:24:38.780Z,1628821478.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 344.872971 deg, deltaT: 4.448721 s, approachRate: 0.215793 m/s, LOS rate: 9.430213 deg/s, posRepo size: 4
2021-08-13T02:24:41.159Z,1628821481.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:41.559Z,1628821481.559 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:41.559Z,1628821481.559 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:41.560Z,1628821481.560 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:41.561Z,1628821481.561 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:41.957Z,1628821481.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,00506,189,80,80,4C,FF
2021-08-13T02:24:41.957Z,1628821481.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:41.957Z,1628821481.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:41.959Z,1628821481.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:42.371Z,1628821482.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:42.765Z,1628821482.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00524,187,80,80,7E,FF
2021-08-13T02:24:42.765Z,1628821482.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:42.843Z,1628821482.843 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:24:43.202Z,1628821483.202 [Micromodem](INFO): Nmea in: $SNTTA,0.040906,,,,022443.48*44

2021-08-13T02:24:43.288Z,1628821483.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 293.147566 deg, deltaT: 4.441386 s, approachRate: 0.405279 m/s, LOS rate: -11.646231 deg/s, posRepo size: 4
2021-08-13T02:24:43.611Z,1628821483.611 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:24:43.611Z,1628821483.611 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:24:43.611Z,1628821483.611 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:24:43.612Z,1628821483.612 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:24:43.612Z,1628821483.612 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:24:43.612Z,1628821483.612 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:24:44.042Z,1628821484.042 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:24:44.043Z,1628821484.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:24:44.043Z,1628821484.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:24:44.043Z,1628821484.043 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:24:45.646Z,1628821485.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:45.989Z,1628821485.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:45.989Z,1628821485.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:45.989Z,1628821485.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:45.990Z,1628821485.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:46.401Z,1628821486.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,00524,187,80,80,7E,FF
2021-08-13T02:24:46.401Z,1628821486.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:46.402Z,1628821486.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:46.403Z,1628821486.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:46.469Z,1628821486.469 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T02:24:46.801Z,1628821486.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:47.205Z,1628821487.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,0053E,189,80,80,83,FF
2021-08-13T02:24:47.205Z,1628821487.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:47.641Z,1628821487.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022447.92*52

2021-08-13T02:24:47.683Z,1628821487.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 345.085281 deg, deltaT: 4.382534 s, approachRate: 0.355958 m/s, LOS rate: 11.851070 deg/s, posRepo size: 4
2021-08-13T02:24:50.086Z,1628821490.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:50.441Z,1628821490.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:50.441Z,1628821490.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:50.441Z,1628821490.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:50.442Z,1628821490.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:50.843Z,1628821490.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,0053E,189,80,80,83,FF
2021-08-13T02:24:50.843Z,1628821490.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:50.843Z,1628821490.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:50.845Z,1628821490.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:51.254Z,1628821491.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:52.074Z,1628821492.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022452.37*59

2021-08-13T02:24:52.902Z,1628821492.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:54.473Z,1628821494.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,83,FF
2021-08-13T02:24:54.473Z,1628821494.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,83,FF
2021-08-13T02:24:54.473Z,1628821494.473 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:24:55.779Z,1628821495.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:24:56.097Z,1628821496.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:24:56.097Z,1628821496.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:24:56.097Z,1628821496.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:24:56.098Z,1628821496.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:24:56.501Z,1628821496.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,83,FF
2021-08-13T02:24:56.501Z,1628821496.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:24:56.501Z,1628821496.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:24:56.503Z,1628821496.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:24:56.915Z,1628821496.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:24:57.333Z,1628821497.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,0058D,185,80,80,72,FF
2021-08-13T02:24:57.333Z,1628821497.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:24:57.761Z,1628821497.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022458.02*55

2021-08-13T02:24:57.820Z,1628821497.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 333.920217 deg, deltaT: 10.139258 s, approachRate: 0.467490 m/s, LOS rate: -1.101172 deg/s, posRepo size: 4
2021-08-13T02:25:00.158Z,1628821500.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:00.541Z,1628821500.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:00.541Z,1628821500.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:00.541Z,1628821500.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:00.542Z,1628821500.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:00.953Z,1628821500.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA5,000,0058D,185,80,80,72,FF
2021-08-13T02:25:00.953Z,1628821500.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:00.953Z,1628821500.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:00.956Z,1628821500.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:01.345Z,1628821501.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:01.801Z,1628821501.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF2,000,005AB,187,80,80,5D,FF
2021-08-13T02:25:01.801Z,1628821501.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:02.181Z,1628821502.181 [Micromodem](INFO): Nmea in: $SNTTA,0.053499,,,,022502.48*49

2021-08-13T02:25:02.219Z,1628821502.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 331.641174 deg, deltaT: 4.551136 s, approachRate: 0.395507 m/s, LOS rate: -0.500764 deg/s, posRepo size: 4
2021-08-13T02:25:04.624Z,1628821504.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:04.977Z,1628821504.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:04.977Z,1628821504.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:04.977Z,1628821504.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:04.978Z,1628821504.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:05.386Z,1628821505.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF2,000,005AB,187,80,80,5D,FF
2021-08-13T02:25:05.386Z,1628821505.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:05.386Z,1628821505.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:05.388Z,1628821505.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:05.816Z,1628821505.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:05.829Z,1628821505.829 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:25:06.197Z,1628821506.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,005CD,186,80,80,2B,FF
2021-08-13T02:25:06.198Z,1628821506.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:06.641Z,1628821506.641 [Micromodem](INFO): Nmea in: $SNTTA,0.049791,,,,022506.91*49

2021-08-13T02:25:06.684Z,1628821506.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 334.823605 deg, deltaT: 4.392276 s, approachRate: 0.464452 m/s, LOS rate: 0.724552 deg/s, posRepo size: 4
2021-08-13T02:25:09.041Z,1628821509.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:09.425Z,1628821509.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:09.425Z,1628821509.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:09.425Z,1628821509.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:09.426Z,1628821509.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:09.825Z,1628821509.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,005CD,186,80,80,2B,FF
2021-08-13T02:25:09.825Z,1628821509.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:09.825Z,1628821509.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:09.827Z,1628821509.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:10.249Z,1628821510.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:11.074Z,1628821511.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022511.35*5D

2021-08-13T02:25:11.928Z,1628821511.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:13.478Z,1628821513.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,2B,FF
2021-08-13T02:25:13.478Z,1628821513.478 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,2B,FF
2021-08-13T02:25:13.478Z,1628821513.478 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:25:14.698Z,1628821514.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:15.092Z,1628821515.092 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:15.093Z,1628821515.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:15.093Z,1628821515.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:15.094Z,1628821515.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:15.489Z,1628821515.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,2B,FF
2021-08-13T02:25:15.489Z,1628821515.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:15.489Z,1628821515.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:15.491Z,1628821515.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:15.913Z,1628821515.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:16.333Z,1628821516.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,0062E,186,80,80,73,FF
2021-08-13T02:25:16.333Z,1628821516.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:16.739Z,1628821516.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 334.617005 deg, deltaT: 10.091266 s, approachRate: 0.576737 m/s, LOS rate: -0.020473 deg/s, posRepo size: 4
2021-08-13T02:25:19.142Z,1628821519.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:19.533Z,1628821519.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:19.533Z,1628821519.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:19.534Z,1628821519.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:19.535Z,1628821519.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:19.933Z,1628821519.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,0062E,186,80,80,73,FF
2021-08-13T02:25:19.933Z,1628821519.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:19.933Z,1628821519.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:19.935Z,1628821519.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:20.340Z,1628821520.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:21.170Z,1628821521.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022521.46*5A

2021-08-13T02:25:21.995Z,1628821521.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:23.574Z,1628821523.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,73,FF
2021-08-13T02:25:23.574Z,1628821523.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,73,FF
2021-08-13T02:25:23.574Z,1628821523.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:25:24.802Z,1628821524.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:25.193Z,1628821525.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:25.193Z,1628821525.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:25.193Z,1628821525.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:25.193Z,1628821525.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:25.589Z,1628821525.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,73,FF
2021-08-13T02:25:25.589Z,1628821525.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:25.589Z,1628821525.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:25.591Z,1628821525.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:26.021Z,1628821526.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:26.397Z,1628821526.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00684,187,80,80,6E,FF
2021-08-13T02:25:26.397Z,1628821526.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:26.842Z,1628821526.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022527.11*5E

2021-08-13T02:25:26.870Z,1628821526.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 312.337174 deg, deltaT: 10.064673 s, approachRate: 0.512684 m/s, LOS rate: -2.213667 deg/s, posRepo size: 4
2021-08-13T02:25:29.269Z,1628821529.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:29.637Z,1628821529.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:29.637Z,1628821529.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:29.637Z,1628821529.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:29.638Z,1628821529.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:30.041Z,1628821530.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00684,187,80,80,6E,FF
2021-08-13T02:25:30.041Z,1628821530.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:30.041Z,1628821530.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:30.043Z,1628821530.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:30.493Z,1628821530.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:30.893Z,1628821530.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,006AD,183,80,80,86,FF
2021-08-13T02:25:30.894Z,1628821530.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:31.346Z,1628821531.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022531.56*5A

2021-08-13T02:25:31.374Z,1628821531.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 315.859557 deg, deltaT: 4.454381 s, approachRate: 0.552264 m/s, LOS rate: 0.790768 deg/s, posRepo size: 4
2021-08-13T02:25:33.779Z,1628821533.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:34.125Z,1628821534.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:34.125Z,1628821534.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:34.125Z,1628821534.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:34.126Z,1628821534.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:34.536Z,1628821534.536 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,006AD,183,80,80,86,FF
2021-08-13T02:25:34.536Z,1628821534.536 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:34.537Z,1628821534.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:34.538Z,1628821534.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:34.936Z,1628821534.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:35.333Z,1628821535.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,006D8,184,80,80,49,FF
2021-08-13T02:25:35.333Z,1628821535.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:35.785Z,1628821535.785 [Micromodem](INFO): Nmea in: $SNTTA,0.057653,,,,022536.06*44

2021-08-13T02:25:35.835Z,1628821535.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 318.084205 deg, deltaT: 4.470807 s, approachRate: 0.577076 m/s, LOS rate: 0.497594 deg/s, posRepo size: 4
2021-08-13T02:25:38.190Z,1628821538.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:38.573Z,1628821538.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:38.573Z,1628821538.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:38.573Z,1628821538.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:38.574Z,1628821538.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:38.965Z,1628821538.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,006D8,184,80,80,49,FF
2021-08-13T02:25:38.965Z,1628821538.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:38.965Z,1628821538.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:38.967Z,1628821538.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:39.385Z,1628821539.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:39.817Z,1628821539.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,00705,186,80,80,60,FF
2021-08-13T02:25:39.817Z,1628821539.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:40.118Z,1628821540.118 [CTD_Seabird](ERROR): Failed to parse device response: 10,4802.09
2021-08-13T02:25:40.225Z,1628821540.225 [Micromodem](INFO): Nmea in: $SNTTA,0.053859,,,,022540.49*4E

2021-08-13T02:25:40.245Z,1628821540.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.320000 m, bearing: 292.892309 deg, deltaT: 4.539399 s, approachRate: 0.594793 m/s, LOS rate: -5.549610 deg/s, posRepo size: 4
2021-08-13T02:25:42.649Z,1628821542.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:43.009Z,1628821543.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:43.009Z,1628821543.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:43.009Z,1628821543.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:43.010Z,1628821543.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:43.423Z,1628821543.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,00705,186,80,80,60,FF
2021-08-13T02:25:43.423Z,1628821543.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:43.423Z,1628821543.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:43.426Z,1628821543.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:43.817Z,1628821543.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:44.226Z,1628821544.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00731,185,80,80,86,FF
2021-08-13T02:25:44.227Z,1628821544.227 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:44.657Z,1628821544.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022544.95*57

2021-08-13T02:25:44.703Z,1628821544.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 301.798192 deg, deltaT: 4.324700 s, approachRate: 0.610447 m/s, LOS rate: 2.059307 deg/s, posRepo size: 4
2021-08-13T02:25:47.063Z,1628821547.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:47.446Z,1628821547.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:47.446Z,1628821547.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:47.447Z,1628821547.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:47.447Z,1628821547.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:47.854Z,1628821547.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00731,185,80,80,86,FF
2021-08-13T02:25:47.854Z,1628821547.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:47.855Z,1628821547.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:47.858Z,1628821547.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:48.301Z,1628821548.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:48.669Z,1628821548.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FE,000,0075A,189,80,80,65,FF
2021-08-13T02:25:48.670Z,1628821548.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:49.121Z,1628821549.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022549.38*5D

2021-08-13T02:25:49.159Z,1628821549.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 278.644807 deg, deltaT: 4.441256 s, approachRate: 0.553899 m/s, LOS rate: -5.213252 deg/s, posRepo size: 4
2021-08-13T02:25:51.553Z,1628821551.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:51.913Z,1628821551.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:51.913Z,1628821551.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:51.913Z,1628821551.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:51.914Z,1628821551.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:52.330Z,1628821552.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FE,000,0075A,189,80,80,65,FF
2021-08-13T02:25:52.330Z,1628821552.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:52.331Z,1628821552.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:52.333Z,1628821552.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:52.717Z,1628821552.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:53.118Z,1628821553.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00786,189,80,80,9A,FF
2021-08-13T02:25:53.118Z,1628821553.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:53.553Z,1628821553.553 [Micromodem](INFO): Nmea in: $SNTTA,0.059093,,,,022553.86*4B

2021-08-13T02:25:53.595Z,1628821553.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 288.765235 deg, deltaT: 4.454881 s, approachRate: 0.592608 m/s, LOS rate: 2.271762 deg/s, posRepo size: 4
2021-08-13T02:25:56.008Z,1628821556.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:25:56.349Z,1628821556.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:25:56.349Z,1628821556.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:25:56.349Z,1628821556.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:25:56.350Z,1628821556.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:25:56.761Z,1628821556.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00786,189,80,80,9A,FF
2021-08-13T02:25:56.762Z,1628821556.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:25:56.762Z,1628821556.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:25:56.763Z,1628821556.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:25:57.161Z,1628821557.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:25:57.565Z,1628821557.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,007B1,189,80,80,9F,FF
2021-08-13T02:25:57.565Z,1628821557.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:25:57.991Z,1628821557.991 [Micromodem](INFO): Nmea in: $SNTTA,0.423154,0.423298,,,022558.29*5E

2021-08-13T02:25:58.082Z,1628821558.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 284.961120 deg, deltaT: 4.479388 s, approachRate: 0.575970 m/s, LOS rate: -0.849249 deg/s, posRepo size: 4
2021-08-13T02:26:00.437Z,1628821560.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:00.793Z,1628821560.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:00.793Z,1628821560.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:00.793Z,1628821560.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:00.794Z,1628821560.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:01.209Z,1628821561.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,007B1,189,80,80,9F,FF
2021-08-13T02:26:01.209Z,1628821561.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:01.209Z,1628821561.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:01.211Z,1628821561.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:01.608Z,1628821561.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:02.005Z,1628821562.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,007DE,185,80,80,7B,FF
2021-08-13T02:26:02.005Z,1628821562.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:02.450Z,1628821562.450 [Micromodem](INFO): Nmea in: $SNTTA,0.060066,,,,022602.73*46

2021-08-13T02:26:02.476Z,1628821562.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.340004 m, bearing: 335.768247 deg, deltaT: 4.470313 s, approachRate: 0.603986 m/s, LOS rate: 11.365452 deg/s, posRepo size: 4
2021-08-13T02:26:04.873Z,1628821564.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:05.245Z,1628821565.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:05.245Z,1628821565.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:05.245Z,1628821565.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:05.246Z,1628821565.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:05.641Z,1628821565.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,007DE,185,80,80,7B,FF
2021-08-13T02:26:05.641Z,1628821565.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:05.641Z,1628821565.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:05.643Z,1628821565.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:06.060Z,1628821566.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:06.457Z,1628821566.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,0080B,186,80,80,88,FF
2021-08-13T02:26:06.458Z,1628821566.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:06.897Z,1628821566.897 [Micromodem](INFO): Nmea in: $SNTTA,0.062530,,,,022607.17*45

2021-08-13T02:26:06.919Z,1628821566.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 336.048258 deg, deltaT: 4.389479 s, approachRate: 0.615106 m/s, LOS rate: 0.063791 deg/s, posRepo size: 4
2021-08-13T02:26:09.349Z,1628821569.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:09.677Z,1628821569.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:09.677Z,1628821569.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:09.677Z,1628821569.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:09.678Z,1628821569.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:10.081Z,1628821570.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,0080B,186,80,80,88,FF
2021-08-13T02:26:10.081Z,1628821570.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:10.082Z,1628821570.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:10.083Z,1628821570.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:10.507Z,1628821570.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:10.901Z,1628821570.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00840,186,80,80,33,FF
2021-08-13T02:26:10.901Z,1628821570.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:11.353Z,1628821571.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022611.61*5F

2021-08-13T02:26:11.408Z,1628821571.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 304.355169 deg, deltaT: 4.469346 s, approachRate: 0.711515 m/s, LOS rate: -7.091214 deg/s, posRepo size: 4
2021-08-13T02:26:13.806Z,1628821573.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:14.133Z,1628821574.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:14.133Z,1628821574.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:14.133Z,1628821574.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:14.134Z,1628821574.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:14.529Z,1628821574.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00840,186,80,80,33,FF
2021-08-13T02:26:14.529Z,1628821574.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:14.529Z,1628821574.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:14.531Z,1628821574.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:14.945Z,1628821574.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:15.337Z,1628821575.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0086A,187,80,80,33,FF
2021-08-13T02:26:15.337Z,1628821575.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:15.813Z,1628821575.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022616.05*5A

2021-08-13T02:26:15.873Z,1628821575.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 297.216857 deg, deltaT: 4.414596 s, approachRate: 0.570831 m/s, LOS rate: -1.616980 deg/s, posRepo size: 4
2021-08-13T02:26:17.898Z,1628821577.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:18.173Z,1628821578.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:18.173Z,1628821578.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:18.173Z,1628821578.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:18.174Z,1628821578.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:18.566Z,1628821578.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0086A,187,80,80,33,FF
2021-08-13T02:26:18.566Z,1628821578.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:18.566Z,1628821578.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:18.568Z,1628821578.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:18.977Z,1628821578.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:19.377Z,1628821579.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,00891,186,80,80,7D,FF
2021-08-13T02:26:19.377Z,1628821579.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:19.833Z,1628821579.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022620.09*53

2021-08-13T02:26:19.899Z,1628821579.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 335.773247 deg, deltaT: 4.063782 s, approachRate: 0.575819 m/s, LOS rate: 9.487810 deg/s, posRepo size: 4
2021-08-13T02:26:22.223Z,1628821582.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:22.609Z,1628821582.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:22.609Z,1628821582.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:22.609Z,1628821582.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:22.610Z,1628821582.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:23.021Z,1628821583.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,00891,186,80,80,7D,FF
2021-08-13T02:26:23.022Z,1628821583.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:23.022Z,1628821583.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:23.023Z,1628821583.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:23.420Z,1628821583.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:23.833Z,1628821583.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,008C4,186,80,80,7C,FF
2021-08-13T02:26:23.833Z,1628821583.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:24.279Z,1628821584.279 [Micromodem](INFO): Nmea in: $SNTTA,0.077386,,,,022624.55*4D

2021-08-13T02:26:24.330Z,1628821584.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.139999 m, bearing: 338.089228 deg, deltaT: 4.478012 s, approachRate: 0.683338 m/s, LOS rate: 0.517189 deg/s, posRepo size: 4
2021-08-13T02:26:26.696Z,1628821586.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:27.053Z,1628821587.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:27.053Z,1628821587.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:27.053Z,1628821587.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:27.054Z,1628821587.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:27.466Z,1628821587.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,008C4,186,80,80,7C,FF
2021-08-13T02:26:27.466Z,1628821587.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:27.466Z,1628821587.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:27.468Z,1628821587.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:27.866Z,1628821587.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:28.281Z,1628821588.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,008EC,185,80,80,9E,FF
2021-08-13T02:26:28.282Z,1628821588.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:28.709Z,1628821588.709 [Micromodem](INFO): Nmea in: $SNTTA,0.073022,,,,022628.99*48

2021-08-13T02:26:28.738Z,1628821588.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 335.066131 deg, deltaT: 4.438053 s, approachRate: 0.540780 m/s, LOS rate: -0.681176 deg/s, posRepo size: 4
2021-08-13T02:26:31.111Z,1628821591.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:31.493Z,1628821591.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:31.493Z,1628821591.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:31.494Z,1628821591.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:31.495Z,1628821591.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:31.917Z,1628821591.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,008EC,185,80,80,9E,FF
2021-08-13T02:26:31.917Z,1628821591.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:31.917Z,1628821591.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:31.919Z,1628821591.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:32.332Z,1628821592.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:32.713Z,1628821592.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,0091A,186,80,80,93,FF
2021-08-13T02:26:32.713Z,1628821592.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:33.146Z,1628821593.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022633.44*58

2021-08-13T02:26:33.168Z,1628821593.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 336.044624 deg, deltaT: 4.413090 s, approachRate: 0.625411 m/s, LOS rate: 0.221725 deg/s, posRepo size: 4
2021-08-13T02:26:35.573Z,1628821595.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:35.953Z,1628821595.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:35.953Z,1628821595.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:35.953Z,1628821595.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:35.954Z,1628821595.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:36.345Z,1628821596.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,0091A,186,80,80,93,FF
2021-08-13T02:26:36.345Z,1628821596.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:36.345Z,1628821596.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:36.347Z,1628821596.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:36.767Z,1628821596.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:37.153Z,1628821597.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00946,186,80,80,A1,FF
2021-08-13T02:26:37.153Z,1628821597.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:37.597Z,1628821597.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022637.87*53

2021-08-13T02:26:37.634Z,1628821597.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 331.819633 deg, deltaT: 4.407244 s, approachRate: 0.599012 m/s, LOS rate: -0.958647 deg/s, posRepo size: 4
2021-08-13T02:26:40.035Z,1628821600.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:40.401Z,1628821600.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:40.401Z,1628821600.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:40.401Z,1628821600.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:40.402Z,1628821600.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:40.789Z,1628821600.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00946,186,80,80,A1,FF
2021-08-13T02:26:40.789Z,1628821600.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:40.789Z,1628821600.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:40.791Z,1628821600.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:41.204Z,1628821601.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:41.601Z,1628821601.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00974,187,80,80,6C,FF
2021-08-13T02:26:41.601Z,1628821601.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:42.045Z,1628821602.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022642.31*5C

2021-08-13T02:26:42.079Z,1628821602.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.700005 m, bearing: 328.365333 deg, deltaT: 4.483046 s, approachRate: 0.615655 m/s, LOS rate: -0.770525 deg/s, posRepo size: 4
2021-08-13T02:26:44.469Z,1628821604.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:44.825Z,1628821604.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:44.825Z,1628821604.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:44.825Z,1628821604.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:44.826Z,1628821604.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:45.244Z,1628821605.244 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00974,187,80,80,6C,FF
2021-08-13T02:26:45.245Z,1628821605.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:45.245Z,1628821605.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:45.268Z,1628821605.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:45.645Z,1628821605.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:46.085Z,1628821606.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,009A6,186,80,80,9D,FF
2021-08-13T02:26:46.085Z,1628821606.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:46.469Z,1628821606.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022646.79*54

2021-08-13T02:26:46.495Z,1628821606.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.700005 m, bearing: 332.767855 deg, deltaT: 4.511152 s, approachRate: 0.665019 m/s, LOS rate: 0.975920 deg/s, posRepo size: 4
2021-08-13T02:26:48.902Z,1628821608.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:49.309Z,1628821609.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:49.309Z,1628821609.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:49.309Z,1628821609.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:49.310Z,1628821609.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:49.677Z,1628821609.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,009A6,186,80,80,9D,FF
2021-08-13T02:26:49.677Z,1628821609.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:49.677Z,1628821609.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:49.679Z,1628821609.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:50.103Z,1628821610.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:50.493Z,1628821610.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,009D2,186,80,80,8B,FF
2021-08-13T02:26:50.493Z,1628821610.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:50.937Z,1628821610.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022651.21*5F

2021-08-13T02:26:50.959Z,1628821610.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.340004 m, bearing: 329.287491 deg, deltaT: 4.396222 s, approachRate: 0.600515 m/s, LOS rate: -0.791672 deg/s, posRepo size: 4
2021-08-13T02:26:53.388Z,1628821613.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:53.740Z,1628821613.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:53.741Z,1628821613.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:53.741Z,1628821613.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:53.743Z,1628821613.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:54.122Z,1628821614.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,009D2,186,80,80,8B,FF
2021-08-13T02:26:54.122Z,1628821614.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:54.122Z,1628821614.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:54.125Z,1628821614.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:54.532Z,1628821614.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:54.934Z,1628821614.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00A01,186,80,80,7C,FF
2021-08-13T02:26:54.935Z,1628821614.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:55.378Z,1628821615.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022655.65*5B

2021-08-13T02:26:55.399Z,1628821615.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.160004 m, bearing: 326.868456 deg, deltaT: 4.433220 s, approachRate: 0.636106 m/s, LOS rate: -0.545661 deg/s, posRepo size: 4
2021-08-13T02:26:57.844Z,1628821617.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:26:58.161Z,1628821618.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:26:58.161Z,1628821618.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:26:58.162Z,1628821618.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:26:58.162Z,1628821618.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:26:58.577Z,1628821618.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00A01,186,80,80,7C,FF
2021-08-13T02:26:58.577Z,1628821618.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:26:58.577Z,1628821618.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:26:58.579Z,1628821618.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:26:58.972Z,1628821618.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:26:59.377Z,1628821619.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,00A34,186,80,80,84,FF
2021-08-13T02:26:59.377Z,1628821619.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:26:59.838Z,1628821619.838 [Micromodem](INFO): Nmea in: $SNTTA,0.089663,,,,022700.10*44

2021-08-13T02:26:59.898Z,1628821619.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 331.413401 deg, deltaT: 4.447381 s, approachRate: 0.688045 m/s, LOS rate: 1.021937 deg/s, posRepo size: 4
2021-08-13T02:27:02.258Z,1628821622.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:02.605Z,1628821622.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:02.605Z,1628821622.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:02.605Z,1628821622.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:02.606Z,1628821622.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:03.009Z,1628821623.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,00A34,186,80,80,84,FF
2021-08-13T02:27:03.009Z,1628821623.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:03.009Z,1628821623.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:03.011Z,1628821623.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:03.417Z,1628821623.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:03.815Z,1628821623.815 [Micromodem](INFO): Nmea in: $SNTTA,0.104348,0.259899,,,022704.53*57

2021-08-13T02:27:05.056Z,1628821625.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:06.654Z,1628821626.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:06.654Z,1628821626.654 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:06.654Z,1628821626.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:27:07.935Z,1628821627.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:08.285Z,1628821628.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:08.285Z,1628821628.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:08.285Z,1628821628.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:08.285Z,1628821628.285 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:08.665Z,1628821628.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:08.665Z,1628821628.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:08.665Z,1628821628.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:08.667Z,1628821628.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:09.072Z,1628821629.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:09.887Z,1628821629.887 [Micromodem](INFO): Nmea in: $SNTTA,0.471083,0.470901,,,022710.19*52

2021-08-13T02:27:10.703Z,1628821630.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:12.329Z,1628821632.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:12.329Z,1628821632.329 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:12.329Z,1628821632.329 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:27:13.573Z,1628821633.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:13.929Z,1628821633.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:13.929Z,1628821633.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:13.929Z,1628821633.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:13.930Z,1628821633.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:14.340Z,1628821634.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,84,FF
2021-08-13T02:27:14.341Z,1628821634.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:14.341Z,1628821634.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:14.343Z,1628821634.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:14.737Z,1628821634.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:15.133Z,1628821635.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00ADB,186,80,80,53,FF
2021-08-13T02:27:15.134Z,1628821635.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:15.569Z,1628821635.569 [Micromodem](INFO): Nmea in: $SNTTA,0.097252,,,,022715.87*47

2021-08-13T02:27:15.595Z,1628821635.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.240005 m, bearing: 322.969211 deg, deltaT: 15.738518 s, approachRate: 0.636655 m/s, LOS rate: -0.536530 deg/s, posRepo size: 4
2021-08-13T02:27:18.007Z,1628821638.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:18.361Z,1628821638.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:18.361Z,1628821638.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:18.361Z,1628821638.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:18.362Z,1628821638.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:18.773Z,1628821638.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00ADB,186,80,80,53,FF
2021-08-13T02:27:18.774Z,1628821638.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:18.774Z,1628821638.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:18.775Z,1628821638.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:19.173Z,1628821639.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:20.002Z,1628821640.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022720.30*58

2021-08-13T02:27:20.819Z,1628821640.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:22.401Z,1628821642.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,53,FF
2021-08-13T02:27:22.401Z,1628821642.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,53,FF
2021-08-13T02:27:22.401Z,1628821642.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:27:23.657Z,1628821643.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:24.017Z,1628821644.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:24.017Z,1628821644.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:24.017Z,1628821644.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:24.018Z,1628821644.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:24.421Z,1628821644.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,53,FF
2021-08-13T02:27:24.421Z,1628821644.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:24.421Z,1628821644.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:24.423Z,1628821644.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:24.832Z,1628821644.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:25.234Z,1628821645.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00B43,187,80,80,7F,FF
2021-08-13T02:27:25.235Z,1628821645.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:25.677Z,1628821645.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022725.95*52

2021-08-13T02:27:25.784Z,1628821645.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 326.740021 deg, deltaT: 10.111640 s, approachRate: 0.617110 m/s, LOS rate: 0.372918 deg/s, posRepo size: 4
2021-08-13T02:27:28.113Z,1628821648.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:28.471Z,1628821648.471 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:28.471Z,1628821648.471 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:28.471Z,1628821648.471 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:28.472Z,1628821648.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:28.879Z,1628821648.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00B43,187,80,80,7F,FF
2021-08-13T02:27:28.879Z,1628821648.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:28.879Z,1628821648.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:28.882Z,1628821648.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:29.288Z,1628821649.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:29.675Z,1628821649.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00B74,186,80,80,34,FF
2021-08-13T02:27:29.676Z,1628821649.676 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:30.105Z,1628821650.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022730.40*5E

2021-08-13T02:27:30.163Z,1628821650.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 304.011747 deg, deltaT: 4.428983 s, approachRate: 0.663810 m/s, LOS rate: -5.131714 deg/s, posRepo size: 4
2021-08-13T02:27:32.546Z,1628821652.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:32.917Z,1628821652.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:32.917Z,1628821652.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:32.917Z,1628821652.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:32.918Z,1628821652.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:33.329Z,1628821653.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00B74,186,80,80,34,FF
2021-08-13T02:27:33.329Z,1628821653.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:33.329Z,1628821653.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:33.331Z,1628821653.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:33.767Z,1628821653.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:34.118Z,1628821654.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00BAC,187,80,80,34,FF
2021-08-13T02:27:34.118Z,1628821654.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:34.549Z,1628821654.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022734.85*53

2021-08-13T02:27:34.585Z,1628821654.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.779999 m, bearing: 321.838049 deg, deltaT: 4.418714 s, approachRate: 0.760402 m/s, LOS rate: 4.034274 deg/s, posRepo size: 4
2021-08-13T02:27:36.983Z,1628821656.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:37.361Z,1628821657.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:37.361Z,1628821657.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:37.361Z,1628821657.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:37.362Z,1628821657.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:37.789Z,1628821657.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00BAC,187,80,80,34,FF
2021-08-13T02:27:37.790Z,1628821657.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:37.790Z,1628821657.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:37.791Z,1628821657.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:38.160Z,1628821658.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:38.982Z,1628821658.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,00BCC,186,80,80,7F,FF
2021-08-13T02:27:38.983Z,1628821658.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:38.989Z,1628821658.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022739.34*54

2021-08-13T02:27:39.419Z,1628821659.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.700012 m, bearing: 329.458983 deg, deltaT: 4.901416 s, approachRate: 0.391726 m/s, LOS rate: 1.554843 deg/s, posRepo size: 4
2021-08-13T02:27:41.862Z,1628821661.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:42.201Z,1628821662.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:42.201Z,1628821662.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:42.201Z,1628821662.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:42.202Z,1628821662.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:42.601Z,1628821662.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,00BCC,186,80,80,7F,FF
2021-08-13T02:27:42.601Z,1628821662.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:42.601Z,1628821662.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:42.603Z,1628821662.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:43.016Z,1628821663.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:43.414Z,1628821663.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,00BFE,186,80,80,7D,FF
2021-08-13T02:27:43.414Z,1628821663.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:43.854Z,1628821663.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022744.13*5B

2021-08-13T02:27:43.911Z,1628821663.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.699997 m, bearing: 324.077641 deg, deltaT: 4.401133 s, approachRate: 0.681639 m/s, LOS rate: -1.222717 deg/s, posRepo size: 4
2021-08-13T02:27:46.313Z,1628821666.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:46.649Z,1628821666.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:46.649Z,1628821666.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:46.649Z,1628821666.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:46.649Z,1628821666.649 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:47.053Z,1628821667.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,00BFE,186,80,80,7D,FF
2021-08-13T02:27:47.053Z,1628821667.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:47.053Z,1628821667.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:47.055Z,1628821667.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:47.461Z,1628821667.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:47.882Z,1628821667.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00C2C,186,80,80,9D,FF
2021-08-13T02:27:47.883Z,1628821667.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:47.886Z,1628821667.886 [Micromodem](INFO): Nmea in: $SNTTA,0.277784,0.277553,,,022748.58*50

2021-08-13T02:27:48.310Z,1628821668.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.460007 m, bearing: 323.398201 deg, deltaT: 4.520445 s, approachRate: 0.610561 m/s, LOS rate: -0.150304 deg/s, posRepo size: 4
2021-08-13T02:27:50.726Z,1628821670.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:51.153Z,1628821671.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:51.153Z,1628821671.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:51.154Z,1628821671.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:51.154Z,1628821671.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:51.493Z,1628821671.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00C2C,186,80,80,9D,FF
2021-08-13T02:27:51.493Z,1628821671.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:51.493Z,1628821671.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:51.495Z,1628821671.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:51.922Z,1628821671.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:52.325Z,1628821672.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00C5B,187,80,80,9B,FF
2021-08-13T02:27:52.325Z,1628821672.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:52.765Z,1628821672.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022753.02*5D

2021-08-13T02:27:52.788Z,1628821672.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.279999 m, bearing: 323.032048 deg, deltaT: 4.424790 s, approachRate: 0.637317 m/s, LOS rate: -0.082750 deg/s, posRepo size: 4
2021-08-13T02:27:52.788Z,1628821672.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.28 m. Resuming terminal guidance.
2021-08-13T02:27:52.789Z,1628821672.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:27:55.182Z,1628821675.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:55.533Z,1628821675.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:55.533Z,1628821675.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:55.533Z,1628821675.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:55.534Z,1628821675.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:27:55.942Z,1628821675.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00C5B,187,80,80,9B,FF
2021-08-13T02:27:55.942Z,1628821675.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:27:55.942Z,1628821675.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:27:55.945Z,1628821675.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:27:56.354Z,1628821676.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:27:56.821Z,1628821676.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00C89,186,80,80,90,FF
2021-08-13T02:27:56.822Z,1628821676.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:27:57.173Z,1628821677.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022757.47*58

2021-08-13T02:27:57.208Z,1628821677.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.040009 m, bearing: 326.017087 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:27:57.209Z,1628821677.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 326.017087deg and heading rate command to 0 deg/s.
2021-08-13T02:27:59.610Z,1628821679.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:27:59.969Z,1628821679.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:27:59.969Z,1628821679.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:27:59.969Z,1628821679.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:27:59.970Z,1628821679.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:00.377Z,1628821680.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00C89,186,80,80,90,FF
2021-08-13T02:28:00.378Z,1628821680.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:00.378Z,1628821680.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:00.379Z,1628821680.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:00.794Z,1628821680.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:01.178Z,1628821681.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,00CB9,186,80,80,90,FF
2021-08-13T02:28:01.178Z,1628821681.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:01.635Z,1628821681.635 [Micromodem](INFO): Nmea in: $SNTTA,0.112174,,,,022801.90*40

2021-08-13T02:28:01.693Z,1628821681.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.920013 m, bearing: 331.033041 deg, deltaT: 4.366963 s, approachRate: 0.659498 m/s, LOS rate: 1.148614 deg/s, posRepo size: 2
2021-08-13T02:28:01.695Z,1628821681.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.920013 m,
      bearing: 331.033041 deg,
      approachRate: 0.659498 m/s,
      LOS rate: 1.148614 deg/s,
      cmd update: 3.445842 deg/s,
      cmd heading: 326.017087 deg,
      new cmd heading: 326.017087 deg.

2021-08-13T02:28:04.077Z,1628821684.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:04.413Z,1628821684.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:04.413Z,1628821684.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:04.413Z,1628821684.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:04.414Z,1628821684.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:04.817Z,1628821684.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,00CB9,186,80,80,90,FF
2021-08-13T02:28:04.817Z,1628821684.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:04.817Z,1628821684.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:04.819Z,1628821684.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:05.237Z,1628821685.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:06.090Z,1628821686.090 [Micromodem](INFO): Nmea in: $SNTTA,0.394351,,,,022806.34*40

2021-08-13T02:28:06.884Z,1628821686.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:08.461Z,1628821688.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,90,FF
2021-08-13T02:28:08.461Z,1628821688.461 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,90,FF
2021-08-13T02:28:08.461Z,1628821688.461 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:28:09.727Z,1628821689.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:10.069Z,1628821690.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:10.069Z,1628821690.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:10.069Z,1628821690.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:10.070Z,1628821690.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:10.473Z,1628821690.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,90,FF
2021-08-13T02:28:10.473Z,1628821690.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:10.473Z,1628821690.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:10.475Z,1628821690.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:10.895Z,1628821690.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:11.298Z,1628821691.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00D19,186,80,80,90,FF
2021-08-13T02:28:11.299Z,1628821691.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:11.739Z,1628821691.739 [Micromodem](INFO): Nmea in: $SNTTA,0.111476,,,,022812.00*4F

2021-08-13T02:28:11.815Z,1628821691.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 9.283962 deg, deltaT: 10.142401 s, approachRate: 0.567912 m/s, LOS rate: 3.771388 deg/s, posRepo size: 3
2021-08-13T02:28:11.817Z,1628821691.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.680008 m,
      bearing: 9.283962 deg,
      approachRate: 0.567912 m/s,
      LOS rate: 3.771388 deg/s,
      cmd update: 11.314166 deg/s,
      cmd heading: 0.996564 deg,
      new cmd heading: 2.594201 deg.

2021-08-13T02:28:14.163Z,1628821694.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:14.521Z,1628821694.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:14.522Z,1628821694.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:14.522Z,1628821694.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:14.523Z,1628821694.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:14.925Z,1628821694.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00D19,186,80,80,90,FF
2021-08-13T02:28:14.925Z,1628821694.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:14.925Z,1628821694.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:14.927Z,1628821694.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:15.336Z,1628821695.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:15.756Z,1628821695.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00D3E,187,80,80,60,FF
2021-08-13T02:28:15.757Z,1628821695.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:16.181Z,1628821696.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022816.45*50

2021-08-13T02:28:16.221Z,1628821696.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.900009 m, bearing: 18.115216 deg, deltaT: 4.489739 s, approachRate: 0.494461 m/s, LOS rate: 1.966986 deg/s, posRepo size: 4
2021-08-13T02:28:16.223Z,1628821696.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 18.115216 deg,
      approachRate: 0.494461 m/s,
      LOS rate: 1.966986 deg/s,
      cmd update: 5.900958 deg/s,
      cmd heading: 51.786000 deg,
      new cmd heading: 56.093541 deg.

2021-08-13T02:28:18.581Z,1628821698.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:18.965Z,1628821698.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:18.965Z,1628821698.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:18.966Z,1628821698.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:18.967Z,1628821698.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:19.361Z,1628821699.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00D3E,187,80,80,60,FF
2021-08-13T02:28:19.361Z,1628821699.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:19.361Z,1628821699.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:19.363Z,1628821699.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:19.819Z,1628821699.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:20.180Z,1628821700.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C56,000,00D53,189,80,80,60,FF
2021-08-13T02:28:20.181Z,1628821700.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:20.609Z,1628821700.609 [Micromodem](INFO): Nmea in: $SNTTA,0.111058,,,,022820.88*46

2021-08-13T02:28:20.635Z,1628821700.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 76.315787 deg, deltaT: 4.353215 s, approachRate: 0.289436 m/s, LOS rate: 13.369562 deg/s, posRepo size: 4
2021-08-13T02:28:20.656Z,1628821700.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.369562 deg/s. Setting heading cmd to target bearing of 76.315787deg and heading rate command to 0 deg/s.
2021-08-13T02:28:23.015Z,1628821703.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:23.405Z,1628821703.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:23.405Z,1628821703.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:23.406Z,1628821703.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:23.407Z,1628821703.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:23.813Z,1628821703.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C56,000,00D53,189,80,80,60,FF
2021-08-13T02:28:23.813Z,1628821703.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:23.813Z,1628821703.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:23.815Z,1628821703.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:24.213Z,1628821704.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:24.614Z,1628821704.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE4,000,00D53,189,80,80,60,FF
2021-08-13T02:28:24.614Z,1628821704.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:25.053Z,1628821705.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022825.34*56

2021-08-13T02:28:25.087Z,1628821705.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 75.474792 deg, deltaT: 4.466096 s, approachRate: 0.000000 m/s, LOS rate: -0.188306 deg/s, posRepo size: 4
2021-08-13T02:28:25.090Z,1628821705.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.159988 m,
      bearing: 75.474792 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.188306 deg/s,
      cmd update: -0.564919 deg/s,
      cmd heading: 76.315787 deg,
      new cmd heading: 76.315787 deg.

2021-08-13T02:28:27.486Z,1628821707.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:27.858Z,1628821707.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:27.858Z,1628821707.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:27.858Z,1628821707.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:27.859Z,1628821707.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:28.265Z,1628821708.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE4,000,00D53,189,80,80,60,FF
2021-08-13T02:28:28.265Z,1628821708.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:28.266Z,1628821708.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:28.274Z,1628821708.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:28.657Z,1628821708.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:29.475Z,1628821709.475 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA7,000,00D53,189,80,80,96,FF
2021-08-13T02:28:29.476Z,1628821709.476 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:29.481Z,1628821709.481 [Micromodem](INFO): Nmea in: $SNTTA,0.113510,,,,022829.80*4C

2021-08-13T02:28:29.959Z,1628821709.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.159988 m, bearing: 124.486195 deg, deltaT: 4.880379 s, approachRate: 0.000000 m/s, LOS rate: 10.042540 deg/s, posRepo size: 4
2021-08-13T02:28:29.961Z,1628821709.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.159988 m,
      bearing: 124.486195 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.042540 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 73.552010 deg,
      new cmd heading: 73.317342 deg.

2021-08-13T02:28:32.367Z,1628821712.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:32.693Z,1628821712.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:32.693Z,1628821712.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:32.693Z,1628821712.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:32.694Z,1628821712.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:33.105Z,1628821713.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA7,000,00D53,189,80,80,96,FF
2021-08-13T02:28:33.105Z,1628821713.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:33.105Z,1628821713.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:33.107Z,1628821713.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:33.515Z,1628821713.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:33.925Z,1628821713.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:33.925Z,1628821713.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:34.354Z,1628821714.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022834.63*54

2021-08-13T02:28:34.397Z,1628821714.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 145.265734 deg, deltaT: 4.412228 s, approachRate: -8.267927 m/s, LOS rate: 4.709534 deg/s, posRepo size: 4
2021-08-13T02:28:34.399Z,1628821714.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 145.265734 deg,
      approachRate: -8.267927 m/s,
      LOS rate: 4.709534 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.603951 deg,
      new cmd heading: 131.825907 deg.

2021-08-13T02:28:36.775Z,1628821716.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:37.137Z,1628821717.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:37.137Z,1628821717.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:37.137Z,1628821717.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:37.138Z,1628821717.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:37.545Z,1628821717.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:37.545Z,1628821717.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:37.546Z,1628821717.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:37.547Z,1628821717.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:37.949Z,1628821717.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:38.350Z,1628821718.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD7,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:38.350Z,1628821718.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:38.787Z,1628821718.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022839.07*5B

2021-08-13T02:28:38.831Z,1628821718.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 137.089260 deg, deltaT: 4.447791 s, approachRate: 0.000000 m/s, LOS rate: -1.838322 deg/s, posRepo size: 4
2021-08-13T02:28:38.833Z,1628821718.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 137.089260 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.838322 deg/s,
      cmd update: -5.514967 deg/s,
      cmd heading: 179.957056 deg,
      new cmd heading: 184.996841 deg.

2021-08-13T02:28:41.200Z,1628821721.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:41.589Z,1628821721.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:41.589Z,1628821721.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:41.589Z,1628821721.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:41.590Z,1628821721.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:42.001Z,1628821722.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD7,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:42.001Z,1628821722.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:42.001Z,1628821722.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:42.003Z,1628821722.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:42.401Z,1628821722.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:42.791Z,1628821722.791 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:42.792Z,1628821722.792 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:43.252Z,1628821723.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022843.53*57

2021-08-13T02:28:43.317Z,1628821723.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.680008 m, bearing: 92.890914 deg, deltaT: 4.405946 s, approachRate: 0.000000 m/s, LOS rate: -10.031522 deg/s, posRepo size: 4
2021-08-13T02:28:43.318Z,1628821723.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 92.890914 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.031522 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 155.658227 deg,
      new cmd heading: 152.885594 deg.

2021-08-13T02:28:45.669Z,1628821725.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:46.025Z,1628821726.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:46.025Z,1628821726.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:46.025Z,1628821726.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:46.026Z,1628821726.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:46.441Z,1628821726.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00AF3,189,80,80,BF,FF
2021-08-13T02:28:46.441Z,1628821726.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:46.441Z,1628821726.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:46.443Z,1628821726.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:46.837Z,1628821726.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:47.254Z,1628821727.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00B3F,186,80,80,B3,FF
2021-08-13T02:28:47.255Z,1628821727.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:47.677Z,1628821727.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022847.97*5B

2021-08-13T02:28:47.766Z,1628821727.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.240005 m, bearing: 142.430905 deg, deltaT: 4.523593 s, approachRate: 1.008048 m/s, LOS rate: 10.951470 deg/s, posRepo size: 4
2021-08-13T02:28:47.767Z,1628821727.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.240005 m,
      bearing: 142.430905 deg,
      approachRate: 1.008048 m/s,
      LOS rate: 10.951470 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 101.404318 deg,
      new cmd heading: 96.384466 deg.

2021-08-13T02:28:50.107Z,1628821730.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:50.478Z,1628821730.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:50.478Z,1628821730.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:50.478Z,1628821730.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:50.479Z,1628821730.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:50.874Z,1628821730.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00B3F,186,80,80,B3,FF
2021-08-13T02:28:50.874Z,1628821730.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:50.874Z,1628821730.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:50.877Z,1628821730.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:51.311Z,1628821731.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:51.714Z,1628821731.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,008D4,187,80,80,AA,FF
2021-08-13T02:28:51.715Z,1628821731.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:52.102Z,1628821732.102 [Micromodem](INFO): Nmea in: $SNTTA,0.067446,0.366041,,,022852.40*54

2021-08-13T02:28:52.156Z,1628821732.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 138.907688 deg, deltaT: 4.497179 s, approachRate: -8.258511 m/s, LOS rate: -0.783428 deg/s, posRepo size: 4
2021-08-13T02:28:52.158Z,1628821732.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.100006 m,
      bearing: 138.907688 deg,
      approachRate: -8.258511 m/s,
      LOS rate: -0.783428 deg/s,
      cmd update: -2.350284 deg/s,
      cmd heading: 155.175720 deg,
      new cmd heading: 159.255048 deg.

2021-08-13T02:28:54.581Z,1628821734.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:54.921Z,1628821734.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:54.921Z,1628821734.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:54.921Z,1628821734.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:54.922Z,1628821734.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:55.337Z,1628821735.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,008D4,187,80,80,AA,FF
2021-08-13T02:28:55.337Z,1628821735.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:55.337Z,1628821735.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:55.341Z,1628821735.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:28:55.763Z,1628821735.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:28:56.150Z,1628821736.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00C65,186,80,80,AA,FF
2021-08-13T02:28:56.150Z,1628821736.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:28:56.549Z,1628821736.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022856.86*5B

2021-08-13T02:28:56.591Z,1628821736.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.880005 m, bearing: 142.663145 deg, deltaT: 4.374365 s, approachRate: 12.522961 m/s, LOS rate: 0.858515 deg/s, posRepo size: 4
2021-08-13T02:28:56.594Z,1628821736.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.880005 m,
      bearing: 142.663145 deg,
      approachRate: 12.522961 m/s,
      LOS rate: 0.858515 deg/s,
      cmd update: 2.575544 deg/s,
      cmd heading: 144.856799 deg,
      new cmd heading: 143.951373 deg.

2021-08-13T02:28:58.995Z,1628821738.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:28:59.353Z,1628821739.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:28:59.354Z,1628821739.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:28:59.354Z,1628821739.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:28:59.355Z,1628821739.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:28:59.801Z,1628821739.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,00C65,186,80,80,AA,FF
2021-08-13T02:28:59.801Z,1628821739.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:28:59.802Z,1628821739.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:28:59.803Z,1628821739.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:00.219Z,1628821740.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:00.617Z,1628821740.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00C32,184,80,80,77,FF
2021-08-13T02:29:00.617Z,1628821740.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:01.078Z,1628821741.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022901.32*57

2021-08-13T02:29:01.099Z,1628821741.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 139.984659 deg, deltaT: 4.434008 s, approachRate: -0.690120 m/s, LOS rate: -0.604078 deg/s, posRepo size: 4
2021-08-13T02:29:01.102Z,1628821741.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.820007 m,
      bearing: 139.984659 deg,
      approachRate: -0.690120 m/s,
      LOS rate: -0.604078 deg/s,
      cmd update: -1.812234 deg/s,
      cmd heading: 156.287679 deg,
      new cmd heading: 157.459570 deg.

2021-08-13T02:29:03.517Z,1628821743.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:03.850Z,1628821743.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:03.850Z,1628821743.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:03.850Z,1628821743.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:03.851Z,1628821743.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:04.252Z,1628821744.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00C32,184,80,80,77,FF
2021-08-13T02:29:04.253Z,1628821744.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:04.253Z,1628821744.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:04.259Z,1628821744.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:04.667Z,1628821744.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:05.066Z,1628821745.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00BFF,186,80,80,A5,FF
2021-08-13T02:29:05.066Z,1628821745.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:05.509Z,1628821745.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022905.78*5D

2021-08-13T02:29:05.534Z,1628821745.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.760010 m, bearing: 137.565474 deg, deltaT: 4.482437 s, approachRate: -0.682664 m/s, LOS rate: -0.539703 deg/s, posRepo size: 4
2021-08-13T02:29:05.537Z,1628821745.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.760010 m,
      bearing: 137.565474 deg,
      approachRate: -0.682664 m/s,
      LOS rate: -0.539703 deg/s,
      cmd update: -1.619109 deg/s,
      cmd heading: 148.176636 deg,
      new cmd heading: 147.425756 deg.

2021-08-13T02:29:07.943Z,1628821747.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:08.317Z,1628821748.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:08.317Z,1628821748.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:08.317Z,1628821748.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:08.318Z,1628821748.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:08.693Z,1628821748.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00BFF,186,80,80,A5,FF
2021-08-13T02:29:08.693Z,1628821748.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:08.693Z,1628821748.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:08.695Z,1628821748.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:09.110Z,1628821749.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:09.505Z,1628821749.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00BCD,185,80,80,9E,FF
2021-08-13T02:29:09.505Z,1628821749.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:09.934Z,1628821749.934 [Micromodem](INFO): Nmea in: $SNTTA,0.320571,0.416108,,,022910.22*5E

2021-08-13T02:29:10.022Z,1628821750.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 134.828699 deg, deltaT: 4.454243 s, approachRate: -0.673519 m/s, LOS rate: -0.614420 deg/s, posRepo size: 4
2021-08-13T02:29:10.028Z,1628821750.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 134.828699 deg,
      approachRate: -0.673519 m/s,
      LOS rate: -0.614420 deg/s,
      cmd update: -1.843259 deg/s,
      cmd heading: 140.954510 deg,
      new cmd heading: 140.239972 deg.

2021-08-13T02:29:12.377Z,1628821752.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:12.733Z,1628821752.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:12.733Z,1628821752.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:12.733Z,1628821752.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:12.734Z,1628821752.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:13.145Z,1628821753.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00BCD,185,80,80,9E,FF
2021-08-13T02:29:13.146Z,1628821753.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:13.146Z,1628821753.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:13.148Z,1628821753.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:13.548Z,1628821753.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:13.953Z,1628821753.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00B99,186,80,80,A1,FF
2021-08-13T02:29:13.953Z,1628821753.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:14.381Z,1628821754.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022914.67*53

2021-08-13T02:29:14.418Z,1628821754.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.639999 m, bearing: 138.037112 deg, deltaT: 4.432444 s, approachRate: -0.703900 m/s, LOS rate: 0.723847 deg/s, posRepo size: 4
2021-08-13T02:29:14.421Z,1628821754.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.639999 m,
      bearing: 138.037112 deg,
      approachRate: -0.703900 m/s,
      LOS rate: 0.723847 deg/s,
      cmd update: 2.171542 deg/s,
      cmd heading: 132.792101 deg,
      new cmd heading: 132.037058 deg.

2021-08-13T02:29:16.807Z,1628821756.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:17.185Z,1628821757.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:17.185Z,1628821757.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:17.185Z,1628821757.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:17.186Z,1628821757.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:17.589Z,1628821757.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00B99,186,80,80,A1,FF
2021-08-13T02:29:17.589Z,1628821757.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:17.589Z,1628821757.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:17.591Z,1628821757.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:17.996Z,1628821757.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:18.397Z,1628821758.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00B62,183,80,80,B2,FF
2021-08-13T02:29:18.397Z,1628821758.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:18.830Z,1628821758.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022919.11*5F

2021-08-13T02:29:18.846Z,1628821758.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.339996 m, bearing: 138.108051 deg, deltaT: 4.435371 s, approachRate: -0.744020 m/s, LOS rate: 0.015994 deg/s, posRepo size: 4
2021-08-13T02:29:18.849Z,1628821758.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 138.108051 deg,
      approachRate: -0.744020 m/s,
      LOS rate: 0.015994 deg/s,
      cmd update: 0.047981 deg/s,
      cmd heading: 142.433055 deg,
      new cmd heading: 143.295538 deg.

2021-08-13T02:29:21.295Z,1628821761.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:21.625Z,1628821761.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:21.625Z,1628821761.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:21.625Z,1628821761.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:21.626Z,1628821761.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:22.025Z,1628821762.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00B62,183,80,80,B2,FF
2021-08-13T02:29:22.025Z,1628821762.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:22.025Z,1628821762.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:22.027Z,1628821762.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:22.433Z,1628821762.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:22.841Z,1628821762.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00B31,186,80,80,B7,FF
2021-08-13T02:29:22.842Z,1628821762.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:23.285Z,1628821763.285 [Micromodem](INFO): Nmea in: $SNTTA,0.106762,,,,022923.55*4C

2021-08-13T02:29:23.322Z,1628821763.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.400009 m, bearing: 138.738887 deg, deltaT: 4.441893 s, approachRate: -0.661877 m/s, LOS rate: 0.142020 deg/s, posRepo size: 4
2021-08-13T02:29:23.325Z,1628821763.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.400009 m,
      bearing: 138.738887 deg,
      approachRate: -0.661877 m/s,
      LOS rate: 0.142020 deg/s,
      cmd update: 0.426059 deg/s,
      cmd heading: 142.644942 deg,
      new cmd heading: 142.666906 deg.

2021-08-13T02:29:25.679Z,1628821765.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:26.077Z,1628821766.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:26.077Z,1628821766.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:26.077Z,1628821766.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:26.078Z,1628821766.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:26.470Z,1628821766.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00B31,186,80,80,B7,FF
2021-08-13T02:29:26.470Z,1628821766.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:26.470Z,1628821766.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:26.472Z,1628821766.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:26.888Z,1628821766.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:27.293Z,1628821767.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00AFA,186,80,80,BC,FF
2021-08-13T02:29:27.294Z,1628821767.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:27.744Z,1628821767.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022927.99*52

2021-08-13T02:29:27.814Z,1628821767.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 139.262134 deg, deltaT: 4.429964 s, approachRate: -0.744928 m/s, LOS rate: 0.118115 deg/s, posRepo size: 4
2021-08-13T02:29:27.820Z,1628821767.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.100006 m,
      bearing: 139.262134 deg,
      approachRate: -0.744928 m/s,
      LOS rate: 0.118115 deg/s,
      cmd update: 0.354346 deg/s,
      cmd heading: 144.543419 deg,
      new cmd heading: 144.753643 deg.

2021-08-13T02:29:30.167Z,1628821770.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:30.517Z,1628821770.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:30.517Z,1628821770.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:30.518Z,1628821770.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:30.518Z,1628821770.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:30.921Z,1628821770.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00AFA,186,80,80,BC,FF
2021-08-13T02:29:30.921Z,1628821770.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:30.921Z,1628821770.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:30.923Z,1628821770.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:31.328Z,1628821771.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:31.756Z,1628821771.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00AC5,186,80,80,A2,FF
2021-08-13T02:29:31.757Z,1628821771.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:32.177Z,1628821772.177 [Micromodem](INFO): Nmea in: $SNTTA,0.192546,,,,022932.44*45

2021-08-13T02:29:32.196Z,1628821772.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.919998 m, bearing: 137.791048 deg, deltaT: 4.500218 s, approachRate: -0.706634 m/s, LOS rate: -0.326892 deg/s, posRepo size: 4
2021-08-13T02:29:32.198Z,1628821772.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.919998 m,
      bearing: 137.791048 deg,
      approachRate: -0.706634 m/s,
      LOS rate: -0.326892 deg/s,
      cmd update: -0.980677 deg/s,
      cmd heading: 146.138044 deg,
      new cmd heading: 146.270893 deg.

2021-08-13T02:29:34.586Z,1628821774.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:34.953Z,1628821774.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:34.953Z,1628821774.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:34.953Z,1628821774.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:34.954Z,1628821774.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:35.361Z,1628821775.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00AC5,186,80,80,A2,FF
2021-08-13T02:29:35.361Z,1628821775.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:35.361Z,1628821775.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:35.363Z,1628821775.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:35.801Z,1628821775.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:36.205Z,1628821776.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00A91,186,80,80,BB,FF
2021-08-13T02:29:36.205Z,1628821776.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:36.609Z,1628821776.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022936.88*52

2021-08-13T02:29:36.635Z,1628821776.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 138.343556 deg, deltaT: 4.460725 s, approachRate: -0.699437 m/s, LOS rate: 0.123861 deg/s, posRepo size: 4
2021-08-13T02:29:36.657Z,1628821776.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.800003 m,
      bearing: 138.343556 deg,
      approachRate: -0.699437 m/s,
      LOS rate: 0.123861 deg/s,
      cmd update: 0.371582 deg/s,
      cmd heading: 141.789677 deg,
      new cmd heading: 141.417108 deg.

2021-08-13T02:29:39.011Z,1628821779.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:39.401Z,1628821779.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:39.401Z,1628821779.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:39.401Z,1628821779.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:39.402Z,1628821779.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:39.809Z,1628821779.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00A91,186,80,80,BB,FF
2021-08-13T02:29:39.809Z,1628821779.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:39.809Z,1628821779.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:39.811Z,1628821779.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:40.231Z,1628821780.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:41.042Z,1628821781.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022941.34*55

2021-08-13T02:29:41.879Z,1628821781.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:43.433Z,1628821783.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,BB,FF
2021-08-13T02:29:43.433Z,1628821783.433 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,BB,FF
2021-08-13T02:29:43.434Z,1628821783.434 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:29:44.682Z,1628821784.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:45.053Z,1628821785.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:45.053Z,1628821785.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:45.053Z,1628821785.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:45.054Z,1628821785.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:45.457Z,1628821785.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,BB,FF
2021-08-13T02:29:45.457Z,1628821785.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:45.457Z,1628821785.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:45.459Z,1628821785.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:45.878Z,1628821785.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:46.291Z,1628821786.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00A14,186,80,80,95,FF
2021-08-13T02:29:46.292Z,1628821786.292 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:46.709Z,1628821786.709 [Micromodem](INFO): Nmea in: $SNTTA,0.094671,,,,022946.98*47

2021-08-13T02:29:46.731Z,1628821786.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 138.839823 deg, deltaT: 10.071617 s, approachRate: -0.744666 m/s, LOS rate: 0.049274 deg/s, posRepo size: 4
2021-08-13T02:29:46.734Z,1628821786.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 138.839823 deg,
      approachRate: -0.744666 m/s,
      LOS rate: 0.049274 deg/s,
      cmd update: 0.147822 deg/s,
      cmd heading: 145.538989 deg,
      new cmd heading: 145.682619 deg.

2021-08-13T02:29:49.127Z,1628821789.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:49.501Z,1628821789.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:49.501Z,1628821789.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:49.501Z,1628821789.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:49.502Z,1628821789.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:49.917Z,1628821789.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00A14,186,80,80,95,FF
2021-08-13T02:29:49.917Z,1628821789.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:49.918Z,1628821789.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:49.919Z,1628821789.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:50.353Z,1628821790.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:50.749Z,1628821790.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,009DD,186,80,80,AA,FF
2021-08-13T02:29:50.749Z,1628821790.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:51.173Z,1628821791.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022951.44*53

2021-08-13T02:29:51.239Z,1628821791.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 137.430769 deg, deltaT: 4.412884 s, approachRate: -0.747811 m/s, LOS rate: -0.319305 deg/s, posRepo size: 4
2021-08-13T02:29:51.273Z,1628821791.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.000008 m,
      bearing: 137.430769 deg,
      approachRate: -0.747811 m/s,
      LOS rate: -0.319305 deg/s,
      cmd update: -0.957914 deg/s,
      cmd heading: 146.192537 deg,
      new cmd heading: 146.262506 deg.

2021-08-13T02:29:53.644Z,1628821793.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:54.001Z,1628821794.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:54.001Z,1628821794.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:54.001Z,1628821794.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:54.002Z,1628821794.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:54.409Z,1628821794.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,009DD,186,80,80,AA,FF
2021-08-13T02:29:54.410Z,1628821794.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:54.410Z,1628821794.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:54.411Z,1628821794.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:54.812Z,1628821794.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:55.217Z,1628821795.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,009A8,186,80,80,A1,FF
2021-08-13T02:29:55.218Z,1628821795.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:29:55.653Z,1628821795.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,022955.93*5D

2021-08-13T02:29:55.697Z,1628821795.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.820000 m, bearing: 136.956098 deg, deltaT: 4.472377 s, approachRate: -0.711033 m/s, LOS rate: -0.106134 deg/s, posRepo size: 4
2021-08-13T02:29:55.703Z,1628821795.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.820000 m,
      bearing: 136.956098 deg,
      approachRate: -0.711033 m/s,
      LOS rate: -0.106134 deg/s,
      cmd update: -0.318402 deg/s,
      cmd heading: 141.908798 deg,
      new cmd heading: 141.469653 deg.

2021-08-13T02:29:58.102Z,1628821798.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:29:58.449Z,1628821798.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:29:58.449Z,1628821798.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:29:58.449Z,1628821798.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:29:58.450Z,1628821798.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:29:58.858Z,1628821798.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,009A8,186,80,80,A1,FF
2021-08-13T02:29:58.858Z,1628821798.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:29:58.858Z,1628821798.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:29:58.861Z,1628821798.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:29:59.287Z,1628821799.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:29:59.669Z,1628821799.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,001A6,186,80,80,A4,FF
2021-08-13T02:29:59.669Z,1628821799.669 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T02:30:00.101Z,1628821800.101 [Micromodem](INFO): Nmea in: $SNTTA,0.086662,,,,023000.38*46

2021-08-13T02:30:00.914Z,1628821800.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:03.781Z,1628821803.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:04.101Z,1628821804.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:04.101Z,1628821804.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:04.101Z,1628821804.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:04.102Z,1628821804.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:04.521Z,1628821804.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,001A6,186,80,80,A4,FF
2021-08-13T02:30:04.522Z,1628821804.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:04.522Z,1628821804.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:04.523Z,1628821804.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:04.920Z,1628821804.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:05.337Z,1628821805.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,052,000,0092F,184,80,80,BB,FF
2021-08-13T02:30:05.337Z,1628821805.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:05.765Z,1628821805.765 [Micromodem](INFO): Nmea in: $SNTTA,0.090827,,,,023006.04*47

2021-08-13T02:30:05.824Z,1628821805.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 140.360442 deg, deltaT: 10.149369 s, approachRate: -0.715316 m/s, LOS rate: 0.335424 deg/s, posRepo size: 4
2021-08-13T02:30:05.826Z,1628821805.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.559998 m,
      bearing: 140.360442 deg,
      approachRate: -0.715316 m/s,
      LOS rate: 0.335424 deg/s,
      cmd update: 1.006273 deg/s,
      cmd heading: 138.677089 deg,
      new cmd heading: 138.539615 deg.

2021-08-13T02:30:08.162Z,1628821808.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:08.554Z,1628821808.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:08.554Z,1628821808.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:08.554Z,1628821808.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:08.555Z,1628821808.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:08.949Z,1628821808.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
052,000,0092F,184,80,80,BB,FF
2021-08-13T02:30:08.949Z,1628821808.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:08.949Z,1628821808.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:08.951Z,1628821808.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:09.361Z,1628821809.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:09.797Z,1628821809.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,008F6,184,80,80,C4,FF
2021-08-13T02:30:09.797Z,1628821809.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:10.210Z,1628821810.210 [Micromodem](INFO): Nmea in: $SNTTA,0.097138,,,,023010.47*47

2021-08-13T02:30:10.236Z,1628821810.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.140007 m, bearing: 141.111831 deg, deltaT: 4.474379 s, approachRate: -0.764350 m/s, LOS rate: 0.167931 deg/s, posRepo size: 4
2021-08-13T02:30:10.239Z,1628821810.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 141.111831 deg,
      approachRate: -0.764350 m/s,
      LOS rate: 0.167931 deg/s,
      cmd update: 0.503794 deg/s,
      cmd heading: 143.151194 deg,
      new cmd heading: 143.555772 deg.

2021-08-13T02:30:12.664Z,1628821812.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:12.989Z,1628821812.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:12.989Z,1628821812.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:12.989Z,1628821812.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:12.990Z,1628821812.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:13.393Z,1628821813.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,008F6,184,80,80,C4,FF
2021-08-13T02:30:13.393Z,1628821813.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:13.393Z,1628821813.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:13.395Z,1628821813.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:13.820Z,1628821813.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:14.201Z,1628821814.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,008C2,186,80,80,6C,FF
2021-08-13T02:30:14.201Z,1628821814.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:14.645Z,1628821814.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023014.92*51

2021-08-13T02:30:14.688Z,1628821814.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.020004 m, bearing: 138.243616 deg, deltaT: 4.382129 s, approachRate: -0.711983 m/s, LOS rate: -0.654525 deg/s, posRepo size: 4
2021-08-13T02:30:14.690Z,1628821814.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.020004 m,
      bearing: 138.243616 deg,
      approachRate: -0.711983 m/s,
      LOS rate: -0.654525 deg/s,
      cmd update: -1.963576 deg/s,
      cmd heading: 145.361958 deg,
      new cmd heading: 145.596536 deg.

2021-08-13T02:30:17.047Z,1628821817.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:17.433Z,1628821817.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:17.433Z,1628821817.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:17.433Z,1628821817.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:17.434Z,1628821817.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:17.837Z,1628821817.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,008C2,186,80,80,6C,FF
2021-08-13T02:30:17.837Z,1628821817.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:17.837Z,1628821817.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:17.839Z,1628821817.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:18.245Z,1628821818.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:18.653Z,1628821818.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,0088E,186,80,80,9C,FF
2021-08-13T02:30:18.654Z,1628821818.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:19.095Z,1628821819.095 [Micromodem](INFO): Nmea in: $SNTTA,0.078200,,,,023019.36*41

2021-08-13T02:30:19.151Z,1628821819.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.900002 m, bearing: 138.845916 deg, deltaT: 4.441445 s, approachRate: -0.702475 m/s, LOS rate: 0.135609 deg/s, posRepo size: 4
2021-08-13T02:30:19.155Z,1628821819.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 138.845916 deg,
      approachRate: -0.702475 m/s,
      LOS rate: 0.135609 deg/s,
      cmd update: 0.406827 deg/s,
      cmd heading: 136.597313 deg,
      new cmd heading: 135.690734 deg.

2021-08-13T02:30:21.508Z,1628821821.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:21.878Z,1628821821.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:21.878Z,1628821821.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:21.878Z,1628821821.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:21.879Z,1628821821.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:22.297Z,1628821822.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,0088E,186,80,80,9C,FF
2021-08-13T02:30:22.297Z,1628821822.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:22.297Z,1628821822.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:22.299Z,1628821822.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:22.705Z,1628821822.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:23.101Z,1628821823.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00858,184,80,80,AA,FF
2021-08-13T02:30:23.102Z,1628821823.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:23.526Z,1628821823.526 [Micromodem](INFO): Nmea in: $SNTTA,0.155338,,,,023023.82*43

2021-08-13T02:30:23.552Z,1628821823.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 141.193821 deg, deltaT: 4.432627 s, approachRate: -0.730943 m/s, LOS rate: 0.529687 deg/s, posRepo size: 4
2021-08-13T02:30:23.554Z,1628821823.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.660004 m,
      bearing: 141.193821 deg,
      approachRate: -0.730943 m/s,
      LOS rate: 0.529687 deg/s,
      cmd update: 1.589061 deg/s,
      cmd heading: 138.400621 deg,
      new cmd heading: 138.576837 deg.

2021-08-13T02:30:25.973Z,1628821825.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:26.345Z,1628821826.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:26.345Z,1628821826.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:26.345Z,1628821826.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:26.346Z,1628821826.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:26.721Z,1628821826.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00858,184,80,80,AA,FF
2021-08-13T02:30:26.721Z,1628821826.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:26.722Z,1628821826.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:26.723Z,1628821826.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:27.132Z,1628821827.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:27.533Z,1628821827.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00822,184,80,80,B9,FF
2021-08-13T02:30:27.533Z,1628821827.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:27.978Z,1628821827.978 [Micromodem](INFO): Nmea in: $SNTTA,0.070480,,,,023028.24*46

2021-08-13T02:30:28.013Z,1628821828.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 140.743288 deg, deltaT: 4.478125 s, approachRate: -0.723518 m/s, LOS rate: -0.100607 deg/s, posRepo size: 4
2021-08-13T02:30:28.015Z,1628821828.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 140.743288 deg,
      approachRate: -0.723518 m/s,
      LOS rate: -0.100607 deg/s,
      cmd update: -0.301822 deg/s,
      cmd heading: 145.503562 deg,
      new cmd heading: 146.177611 deg.

2021-08-13T02:30:30.406Z,1628821830.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:30.758Z,1628821830.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:30.758Z,1628821830.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:30.759Z,1628821830.759 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:30.760Z,1628821830.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:31.187Z,1628821831.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00822,184,80,80,B9,FF
2021-08-13T02:30:31.189Z,1628821831.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:31.194Z,1628821831.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:31.202Z,1628821831.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:31.592Z,1628821831.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:31.977Z,1628821831.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,007E8,186,80,80,80,FF
2021-08-13T02:30:31.977Z,1628821831.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:32.405Z,1628821832.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023032.73*5A

2021-08-13T02:30:32.449Z,1628821832.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 138.435463 deg, deltaT: 4.473723 s, approachRate: -0.777875 m/s, LOS rate: -0.515862 deg/s, posRepo size: 4
2021-08-13T02:30:32.451Z,1628821832.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 138.435463 deg,
      approachRate: -0.777875 m/s,
      LOS rate: -0.515862 deg/s,
      cmd update: -1.547587 deg/s,
      cmd heading: 144.152008 deg,
      new cmd heading: 144.036518 deg.

2021-08-13T02:30:34.902Z,1628821834.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:35.209Z,1628821835.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:35.209Z,1628821835.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:35.209Z,1628821835.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:35.210Z,1628821835.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:35.349Z,1628821835.349 [CTD_Seabird](ERROR): Failed to parse device response: 5,4.75164,4801.56
2021-08-13T02:30:35.613Z,1628821835.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,007E8,186,80,80,80,FF
2021-08-13T02:30:35.613Z,1628821835.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:35.613Z,1628821835.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:35.615Z,1628821835.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:36.021Z,1628821836.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:36.421Z,1628821836.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,007B6,186,80,80,A8,FF
2021-08-13T02:30:36.421Z,1628821836.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:36.866Z,1628821836.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023037.14*5E

2021-08-13T02:30:36.901Z,1628821836.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.940002 m, bearing: 138.997082 deg, deltaT: 4.378091 s, approachRate: -0.685230 m/s, LOS rate: 0.128279 deg/s, posRepo size: 4
2021-08-13T02:30:36.903Z,1628821836.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 138.997082 deg,
      approachRate: -0.685230 m/s,
      LOS rate: 0.128279 deg/s,
      cmd update: 0.384838 deg/s,
      cmd heading: 137.370348 deg,
      new cmd heading: 136.670726 deg.

2021-08-13T02:30:39.311Z,1628821839.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:39.653Z,1628821839.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:39.653Z,1628821839.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:39.653Z,1628821839.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:39.654Z,1628821839.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:40.065Z,1628821840.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,007B6,186,80,80,A8,FF
2021-08-13T02:30:40.065Z,1628821840.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:40.065Z,1628821840.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:40.067Z,1628821840.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:40.461Z,1628821840.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:40.879Z,1628821840.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,0077C,184,80,80,A9,FF
2021-08-13T02:30:40.880Z,1628821840.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:41.361Z,1628821841.361 [Micromodem](INFO): Nmea in: $SNTTA,0.070976,,,,023041.59*47

2021-08-13T02:30:41.446Z,1628821841.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 140.661244 deg, deltaT: 4.449389 s, approachRate: -0.782129 m/s, LOS rate: 0.374020 deg/s, posRepo size: 4
2021-08-13T02:30:41.452Z,1628821841.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.460007 m,
      bearing: 140.661244 deg,
      approachRate: -0.782129 m/s,
      LOS rate: 0.374020 deg/s,
      cmd update: 1.122061 deg/s,
      cmd heading: 139.082633 deg,
      new cmd heading: 139.293476 deg.

2021-08-13T02:30:43.777Z,1628821843.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:44.101Z,1628821844.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:44.101Z,1628821844.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:44.101Z,1628821844.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:44.102Z,1628821844.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:44.506Z,1628821844.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,0077C,184,80,80,A9,FF
2021-08-13T02:30:44.506Z,1628821844.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:44.506Z,1628821844.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:44.508Z,1628821844.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:44.913Z,1628821844.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:45.329Z,1628821845.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00746,186,80,80,68,FF
2021-08-13T02:30:45.329Z,1628821845.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:45.766Z,1628821845.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023046.03*5E

2021-08-13T02:30:45.813Z,1628821845.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 139.868081 deg, deltaT: 4.536240 s, approachRate: -0.714249 m/s, LOS rate: -0.174850 deg/s, posRepo size: 4
2021-08-13T02:30:45.815Z,1628821845.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.220001 m,
      bearing: 139.868081 deg,
      approachRate: -0.714249 m/s,
      LOS rate: -0.174850 deg/s,
      cmd update: -0.524551 deg/s,
      cmd heading: 144.159899 deg,
      new cmd heading: 144.597497 deg.

2021-08-13T02:30:48.155Z,1628821848.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:48.549Z,1628821848.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:48.549Z,1628821848.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:48.549Z,1628821848.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:48.550Z,1628821848.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:48.949Z,1628821848.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00746,186,80,80,68,FF
2021-08-13T02:30:48.949Z,1628821848.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:48.949Z,1628821848.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:48.951Z,1628821848.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:49.357Z,1628821849.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:49.793Z,1628821849.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,0070F,186,80,80,A2,FF
2021-08-13T02:30:49.793Z,1628821849.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:50.189Z,1628821850.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023050.47*59

2021-08-13T02:30:50.236Z,1628821850.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 139.895211 deg, deltaT: 4.459906 s, approachRate: -0.739927 m/s, LOS rate: 0.006083 deg/s, posRepo size: 4
2021-08-13T02:30:50.238Z,1628821850.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.919998 m,
      bearing: 139.895211 deg,
      approachRate: -0.739927 m/s,
      LOS rate: 0.006083 deg/s,
      cmd update: 0.018249 deg/s,
      cmd heading: 141.819205 deg,
      new cmd heading: 141.647694 deg.

2021-08-13T02:30:52.628Z,1628821852.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:52.985Z,1628821852.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:52.985Z,1628821852.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:52.985Z,1628821852.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:52.986Z,1628821852.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:53.389Z,1628821853.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,0070F,186,80,80,A2,FF
2021-08-13T02:30:53.389Z,1628821853.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:53.389Z,1628821853.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:53.391Z,1628821853.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:53.816Z,1628821853.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:54.197Z,1628821854.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,006DD,186,80,80,5C,FF
2021-08-13T02:30:54.198Z,1628821854.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:54.641Z,1628821854.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023054.91*56

2021-08-13T02:30:54.667Z,1628821854.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 141.443341 deg, deltaT: 4.346938 s, approachRate: -0.690139 m/s, LOS rate: 0.356143 deg/s, posRepo size: 4
2021-08-13T02:30:54.669Z,1628821854.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.920006 m,
      bearing: 141.443341 deg,
      approachRate: -0.690139 m/s,
      LOS rate: 0.356143 deg/s,
      cmd update: 1.068428 deg/s,
      cmd heading: 141.898211 deg,
      new cmd heading: 141.906477 deg.

2021-08-13T02:30:57.057Z,1628821857.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:30:57.442Z,1628821857.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:30:57.442Z,1628821857.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:30:57.442Z,1628821857.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:30:57.443Z,1628821857.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:30:57.837Z,1628821857.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,006DD,186,80,80,5C,FF
2021-08-13T02:30:57.837Z,1628821857.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:30:57.837Z,1628821857.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:30:57.839Z,1628821857.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:30:58.267Z,1628821858.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:30:58.641Z,1628821858.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,006A8,186,80,80,8E,FF
2021-08-13T02:30:58.641Z,1628821858.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:30:59.085Z,1628821859.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023059.36*56

2021-08-13T02:30:59.107Z,1628821859.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 140.527932 deg, deltaT: 4.417724 s, approachRate: -0.719829 m/s, LOS rate: -0.207213 deg/s, posRepo size: 4
2021-08-13T02:30:59.110Z,1628821859.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.739998 m,
      bearing: 140.527932 deg,
      approachRate: -0.719829 m/s,
      LOS rate: -0.207213 deg/s,
      cmd update: -0.621639 deg/s,
      cmd heading: 146.646424 deg,
      new cmd heading: 147.126071 deg.

2021-08-13T02:31:01.538Z,1628821861.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:01.882Z,1628821861.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:01.882Z,1628821861.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:01.882Z,1628821861.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:01.882Z,1628821861.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:02.305Z,1628821862.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,006A8,186,80,80,8E,FF
2021-08-13T02:31:02.305Z,1628821862.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:02.305Z,1628821862.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:02.307Z,1628821862.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:02.685Z,1628821862.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:03.093Z,1628821863.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00671,186,80,80,BE,FF
2021-08-13T02:31:03.094Z,1628821863.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:03.521Z,1628821863.521 [Micromodem](INFO): Nmea in: $SNTTA,0.053597,,,,023103.83*45

2021-08-13T02:31:03.559Z,1628821863.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 138.875668 deg, deltaT: 4.452141 s, approachRate: -0.741216 m/s, LOS rate: -0.371117 deg/s, posRepo size: 4
2021-08-13T02:31:03.566Z,1628821863.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 138.875668 deg,
      approachRate: -0.741216 m/s,
      LOS rate: -0.371117 deg/s,
      cmd update: -1.113350 deg/s,
      cmd heading: 143.878737 deg,
      new cmd heading: 143.599848 deg.

2021-08-13T02:31:05.982Z,1628821865.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:06.353Z,1628821866.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:06.354Z,1628821866.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:06.354Z,1628821866.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:06.355Z,1628821866.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:06.721Z,1628821866.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00671,186,80,80,BE,FF
2021-08-13T02:31:06.721Z,1628821866.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:06.721Z,1628821866.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:06.723Z,1628821866.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:07.139Z,1628821867.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:07.545Z,1628821867.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0038F,186,80,80,A3,FF
2021-08-13T02:31:07.545Z,1628821867.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:07.977Z,1628821867.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023108.25*51

2021-08-13T02:31:08.041Z,1628821868.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 138.450544 deg, deltaT: 4.461924 s, approachRate: -9.923969 m/s, LOS rate: -0.095278 deg/s, posRepo size: 4
2021-08-13T02:31:08.041Z,1628821868.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.16 m.
2021-08-13T02:31:08.043Z,1628821868.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 138.450544 deg,
      approachRate: -9.923969 m/s,
      LOS rate: -0.095278 deg/s,
      cmd update: -0.285835 deg/s,
      cmd heading: 138.911313 deg,
      new cmd heading: 138.390323 deg.

2021-08-13T02:31:08.394Z,1628821868.394 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:31:08.448Z,1628821868.448 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:31:08.449Z,1628821868.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:08.449Z,1628821868.449 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:31:08.450Z,1628821868.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:31:08.450Z,1628821868.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:31:08.450Z,1628821868.450 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:31:08.811Z,1628821868.811 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:31:08.812Z,1628821868.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:08.812Z,1628821868.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:31:08.812Z,1628821868.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:10.424Z,1628821870.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:10.761Z,1628821870.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:10.761Z,1628821870.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:10.761Z,1628821870.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:10.762Z,1628821870.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:11.170Z,1628821871.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0038F,186,80,80,A3,FF
2021-08-13T02:31:11.170Z,1628821871.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:11.171Z,1628821871.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:11.173Z,1628821871.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:11.588Z,1628821871.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:11.974Z,1628821871.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00605,184,80,80,63,FF
2021-08-13T02:31:11.975Z,1628821871.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:12.074Z,1628821872.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:31:12.418Z,1628821872.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023112.70*5A

2021-08-13T02:31:12.444Z,1628821872.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 141.218573 deg, deltaT: 4.498362 s, approachRate: 8.403060 m/s, LOS rate: 0.615342 deg/s, posRepo size: 4
2021-08-13T02:31:12.446Z,1628821872.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.960007 m,
      bearing: 141.218573 deg,
      approachRate: 8.403060 m/s,
      LOS rate: 0.615342 deg/s,
      cmd update: 1.846025 deg/s,
      cmd heading: 137.627772 deg,
      new cmd heading: 137.518929 deg.

2021-08-13T02:31:12.834Z,1628821872.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:31:12.834Z,1628821872.834 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:31:12.835Z,1628821872.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:31:12.836Z,1628821872.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:31:12.836Z,1628821872.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:31:12.836Z,1628821872.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:31:13.233Z,1628821873.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:31:13.233Z,1628821873.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:31:13.233Z,1628821873.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:31:13.233Z,1628821873.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:31:14.824Z,1628821874.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:15.205Z,1628821875.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:15.205Z,1628821875.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:15.205Z,1628821875.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:15.206Z,1628821875.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:15.609Z,1628821875.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00605,184,80,80,63,FF
2021-08-13T02:31:15.609Z,1628821875.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:15.609Z,1628821875.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:15.611Z,1628821875.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:16.021Z,1628821876.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:16.417Z,1628821876.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,005D3,183,80,80,7A,FF
2021-08-13T02:31:16.417Z,1628821876.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:16.858Z,1628821876.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023117.13*5A

2021-08-13T02:31:16.909Z,1628821876.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.959999 m, bearing: 143.109716 deg, deltaT: 4.364192 s, approachRate: -0.687414 m/s, LOS rate: 0.433332 deg/s, posRepo size: 4
2021-08-13T02:31:16.911Z,1628821876.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.959999 m,
      bearing: 143.109716 deg,
      approachRate: -0.687414 m/s,
      LOS rate: 0.433332 deg/s,
      cmd update: 1.299995 deg/s,
      cmd heading: 145.698819 deg,
      new cmd heading: 146.573318 deg.

2021-08-13T02:31:19.329Z,1628821879.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:19.649Z,1628821879.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:19.649Z,1628821879.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:19.649Z,1628821879.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:19.650Z,1628821879.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:20.057Z,1628821880.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,005D3,183,80,80,7A,FF
2021-08-13T02:31:20.057Z,1628821880.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:20.057Z,1628821880.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:20.059Z,1628821880.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:20.474Z,1628821880.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:20.866Z,1628821880.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,005A0,186,80,80,64,FF
2021-08-13T02:31:20.866Z,1628821880.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:21.513Z,1628821881.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023121.58*50

2021-08-13T02:31:21.539Z,1628821881.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 140.288083 deg, deltaT: 4.504166 s, approachRate: -0.679371 m/s, LOS rate: -0.626450 deg/s, posRepo size: 4
2021-08-13T02:31:21.541Z,1628821881.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.900002 m,
      bearing: 140.288083 deg,
      approachRate: -0.679371 m/s,
      LOS rate: -0.626450 deg/s,
      cmd update: -1.879349 deg/s,
      cmd heading: 151.540434 deg,
      new cmd heading: 152.334393 deg.

2021-08-13T02:31:23.838Z,1628821883.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:24.153Z,1628821884.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:24.153Z,1628821884.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:24.153Z,1628821884.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:24.154Z,1628821884.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:24.555Z,1628821884.555 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,005A0,186,80,80,64,FF
2021-08-13T02:31:24.555Z,1628821884.555 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:24.555Z,1628821884.555 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:24.557Z,1628821884.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:24.961Z,1628821884.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:25.354Z,1628821885.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,0056E,185,80,80,85,FF
2021-08-13T02:31:25.354Z,1628821885.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:25.819Z,1628821885.819 [Micromodem](INFO): Nmea in: $SNTTA,0.043494,,,,023126.08*42

2021-08-13T02:31:25.822Z,1628821885.822 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,023127,20.0.39330*7E
 expected 4E
2021-08-13T02:31:25.838Z,1628821885.838 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T02:31:25.886Z,1628821885.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 136.070564 deg, deltaT: 4.466694 s, approachRate: -0.671639 m/s, LOS rate: -0.944215 deg/s, posRepo size: 4
2021-08-13T02:31:25.893Z,1628821885.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.899998 m,
      bearing: 136.070564 deg,
      approachRate: -0.671639 m/s,
      LOS rate: -0.944215 deg/s,
      cmd update: -2.832645 deg/s,
      cmd heading: 143.133509 deg,
      new cmd heading: 142.223053 deg.

2021-08-13T02:31:28.211Z,1628821888.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:28.589Z,1628821888.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:28.589Z,1628821888.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:28.589Z,1628821888.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:28.590Z,1628821888.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:28.994Z,1628821888.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,0056E,185,80,80,85,FF
2021-08-13T02:31:28.994Z,1628821888.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:28.994Z,1628821888.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:28.996Z,1628821888.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:29.401Z,1628821889.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:29.810Z,1628821889.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,0053D,186,80,80,94,FF
2021-08-13T02:31:29.810Z,1628821889.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:30.249Z,1628821890.249 [Micromodem](INFO): Nmea in: $SNTTA,0.044468,,,,023130.52*4E

2021-08-13T02:31:30.316Z,1628821890.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 135.857421 deg, deltaT: 4.463724 s, approachRate: -0.658643 m/s, LOS rate: -0.047750 deg/s, posRepo size: 4
2021-08-13T02:31:30.318Z,1628821890.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 135.857421 deg,
      approachRate: -0.658643 m/s,
      LOS rate: -0.047750 deg/s,
      cmd update: -0.143250 deg/s,
      cmd heading: 130.542262 deg,
      new cmd heading: 129.226011 deg.

2021-08-13T02:31:31.442Z,1628821891.442 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:31:32.692Z,1628821892.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:33.033Z,1628821893.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:33.033Z,1628821893.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:33.033Z,1628821893.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:33.034Z,1628821893.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:33.445Z,1628821893.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,0053D,186,80,80,94,FF
2021-08-13T02:31:33.445Z,1628821893.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:33.445Z,1628821893.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:33.447Z,1628821893.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:33.858Z,1628821893.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:34.248Z,1628821894.248 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0050A,183,80,80,5D,FF
2021-08-13T02:31:34.250Z,1628821894.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:34.705Z,1628821894.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023134.97*57

2021-08-13T02:31:34.727Z,1628821894.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 136.299430 deg, deltaT: 4.458521 s, approachRate: -0.686326 m/s, LOS rate: 0.099138 deg/s, posRepo size: 4
2021-08-13T02:31:34.728Z,1628821894.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m.
2021-08-13T02:31:34.729Z,1628821894.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.90 m.
2021-08-13T02:31:34.729Z,1628821894.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T02:31:34.731Z,1628821894.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.900002 m,
      bearing: 136.299430 deg,
      approachRate: -0.686326 m/s,
      LOS rate: 0.099138 deg/s,
      cmd update: 0.297414 deg/s,
      cmd heading: 129.900908 deg,
      new cmd heading: 129.843141 deg.

2021-08-13T02:31:35.104Z,1628821895.104 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:31:35.105Z,1628821895.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:35.105Z,1628821895.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:31:35.105Z,1628821895.105 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:31:35.106Z,1628821895.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:31:35.106Z,1628821895.106 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:31:35.503Z,1628821895.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:31:35.503Z,1628821895.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:35.503Z,1628821895.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:31:35.503Z,1628821895.503 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:31:36.344Z,1628821896.344 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:31:37.108Z,1628821897.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:37.485Z,1628821897.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:37.485Z,1628821897.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:37.485Z,1628821897.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:37.486Z,1628821897.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:37.893Z,1628821897.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0050A,183,80,80,5D,FF
2021-08-13T02:31:37.893Z,1628821897.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:37.893Z,1628821897.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:37.895Z,1628821897.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:38.320Z,1628821898.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:38.701Z,1628821898.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,004D4,187,80,80,81,FF
2021-08-13T02:31:38.701Z,1628821898.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:31:38.750Z,1628821898.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:31:39.138Z,1628821899.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023139.42*52

2021-08-13T02:31:39.154Z,1628821899.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 139.236917 deg, deltaT: 4.418611 s, approachRate: -0.733262 m/s, LOS rate: 0.664799 deg/s, posRepo size: 4
2021-08-13T02:31:39.156Z,1628821899.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.660000 m,
      bearing: 139.236917 deg,
      approachRate: -0.733262 m/s,
      LOS rate: 0.664799 deg/s,
      cmd update: 1.994396 deg/s,
      cmd heading: 131.215018 deg,
      new cmd heading: 131.337303 deg.

2021-08-13T02:31:41.539Z,1628821901.539 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:31:41.555Z,1628821901.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:41.929Z,1628821901.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:41.929Z,1628821901.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:41.929Z,1628821901.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:41.930Z,1628821901.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:42.341Z,1628821902.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,004D4,187,80,80,81,FF
2021-08-13T02:31:42.341Z,1628821902.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:42.341Z,1628821902.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:42.343Z,1628821902.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:42.741Z,1628821902.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:43.566Z,1628821903.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023143.86*57

2021-08-13T02:31:44.382Z,1628821904.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:45.981Z,1628821905.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:45.981Z,1628821905.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:45.981Z,1628821905.981 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:31:46.395Z,1628821906.395 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:31:47.199Z,1628821907.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:47.585Z,1628821907.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:47.585Z,1628821907.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:47.585Z,1628821907.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:47.586Z,1628821907.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:47.998Z,1628821907.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:47.998Z,1628821907.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:47.998Z,1628821907.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:47.000Z,1628821908.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:48.404Z,1628821908.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:49.234Z,1628821909.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023149.52*54

2021-08-13T02:31:50.071Z,1628821910.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:51.629Z,1628821911.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:51.630Z,1628821911.630 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:51.630Z,1628821911.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:31:51.638Z,1628821911.638 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:31:52.877Z,1628821912.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:53.244Z,1628821913.244 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:53.245Z,1628821913.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:53.245Z,1628821913.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:53.247Z,1628821913.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:53.649Z,1628821913.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:53.649Z,1628821913.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:53.650Z,1628821913.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:53.651Z,1628821913.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:54.060Z,1628821914.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:31:54.880Z,1628821914.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023155.17*58

2021-08-13T02:31:55.738Z,1628821915.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:56.492Z,1628821916.492 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T02:31:57.297Z,1628821917.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:57.298Z,1628821917.298 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:57.298Z,1628821917.298 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:31:58.530Z,1628821918.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:31:58.905Z,1628821918.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:31:58.905Z,1628821918.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:31:58.905Z,1628821918.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:31:58.906Z,1628821918.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:31:59.336Z,1628821919.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:31:59.337Z,1628821919.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:31:59.337Z,1628821919.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:31:59.338Z,1628821919.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:31:59.768Z,1628821919.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:00.518Z,1628821920.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023200.86*53

2021-08-13T02:32:01.367Z,1628821921.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:02.949Z,1628821922.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:02.949Z,1628821922.949 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:02.949Z,1628821922.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:32:04.175Z,1628821924.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:04.557Z,1628821924.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:04.557Z,1628821924.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:04.557Z,1628821924.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:04.558Z,1628821924.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:04.957Z,1628821924.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:04.957Z,1628821924.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:04.958Z,1628821924.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:04.959Z,1628821924.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:05.369Z,1628821925.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:06.198Z,1628821926.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023206.48*57

2021-08-13T02:32:06.995Z,1628821926.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:07.408Z,1628821927.408 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:32:08.598Z,1628821928.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:08.598Z,1628821928.598 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:08.598Z,1628821928.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:32:09.875Z,1628821929.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:10.213Z,1628821930.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:10.213Z,1628821930.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:10.214Z,1628821930.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:10.214Z,1628821930.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:10.621Z,1628821930.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,187,80,80,81,FF
2021-08-13T02:32:10.621Z,1628821930.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:10.622Z,1628821930.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:10.623Z,1628821930.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:11.016Z,1628821931.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:11.437Z,1628821931.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,00389,189,80,80,8D,FF
2021-08-13T02:32:11.437Z,1628821931.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:11.449Z,1628821931.449 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T02:32:11.464Z,1628821931.464 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:11.874Z,1628821931.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023212.14*5B

2021-08-13T02:32:11.928Z,1628821931.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 226.417014 deg, deltaT: 32.714569 s, approachRate: -0.607069 m/s, LOS rate: 2.664871 deg/s, posRepo size: 4
2021-08-13T02:32:11.930Z,1628821931.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 226.417014 deg,
      approachRate: -0.607069 m/s,
      LOS rate: 2.664871 deg/s,
      cmd update: 7.994612 deg/s,
      cmd heading: 196.468409 deg,
      new cmd heading: 197.399080 deg.

2021-08-13T02:32:14.317Z,1628821934.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:14.665Z,1628821934.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:14.665Z,1628821934.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:14.666Z,1628821934.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:14.666Z,1628821934.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:15.061Z,1628821935.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,00389,189,80,80,8D,FF
2021-08-13T02:32:15.061Z,1628821935.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:15.061Z,1628821935.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:15.063Z,1628821935.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:15.482Z,1628821935.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:15.874Z,1628821935.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,491,000,0037D,189,80,80,8B,FF
2021-08-13T02:32:15.875Z,1628821935.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:15.955Z,1628821935.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:16.356Z,1628821936.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023216.58*57

2021-08-13T02:32:16.380Z,1628821936.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 146.604683 deg, deltaT: 4.490886 s, approachRate: -0.160326 m/s, LOS rate: -17.772069 deg/s, posRepo size: 4
2021-08-13T02:32:16.381Z,1628821936.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.772069 deg/s. Setting heading cmd to target bearing of 146.604683deg and heading rate command to 0 deg/s.
2021-08-13T02:32:18.749Z,1628821938.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:19.097Z,1628821939.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:19.097Z,1628821939.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:19.097Z,1628821939.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:19.098Z,1628821939.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:19.502Z,1628821939.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
491,000,0037D,189,80,80,8B,FF
2021-08-13T02:32:19.502Z,1628821939.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:19.502Z,1628821939.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:19.505Z,1628821939.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:19.929Z,1628821939.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:20.330Z,1628821940.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,0037F,189,80,80,79,FF
2021-08-13T02:32:20.331Z,1628821940.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:20.398Z,1628821940.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:20.741Z,1628821940.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023221.03*5D

2021-08-13T02:32:20.763Z,1628821940.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 182.431552 deg, deltaT: 4.442687 s, approachRate: 0.027011 m/s, LOS rate: 8.064234 deg/s, posRepo size: 4
2021-08-13T02:32:20.766Z,1628821940.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.199997 m,
      bearing: 182.431552 deg,
      approachRate: 0.027011 m/s,
      LOS rate: 8.064234 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 146.604683 deg,
      new cmd heading: 146.604683 deg.

2021-08-13T02:32:21.539Z,1628821941.539 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T02:32:23.176Z,1628821943.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:23.541Z,1628821943.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:23.541Z,1628821943.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:23.541Z,1628821943.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:23.542Z,1628821943.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:23.953Z,1628821943.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,0037F,189,80,80,79,FF
2021-08-13T02:32:23.953Z,1628821943.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:23.953Z,1628821943.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:23.955Z,1628821943.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:24.344Z,1628821944.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:24.757Z,1628821944.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,00399,188,80,80,8E,FF
2021-08-13T02:32:24.757Z,1628821944.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:24.835Z,1628821944.835 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:25.179Z,1628821945.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023225.48*56

2021-08-13T02:32:25.245Z,1628821945.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 186.803953 deg, deltaT: 4.437014 s, approachRate: 0.351588 m/s, LOS rate: 0.985438 deg/s, posRepo size: 4
2021-08-13T02:32:25.247Z,1628821945.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 186.803953 deg,
      approachRate: 0.351588 m/s,
      LOS rate: 0.985438 deg/s,
      cmd update: 2.956313 deg/s,
      cmd heading: 199.849164 deg,
      new cmd heading: 204.794437 deg.

2021-08-13T02:32:26.400Z,1628821946.400 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:32:27.615Z,1628821947.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:27.981Z,1628821947.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:27.981Z,1628821947.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:27.981Z,1628821947.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:27.982Z,1628821947.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:28.393Z,1628821948.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,00399,188,80,80,8E,FF
2021-08-13T02:32:28.393Z,1628821948.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:28.393Z,1628821948.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:28.395Z,1628821948.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:28.793Z,1628821948.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:29.193Z,1628821949.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,003AE,189,80,80,61,FF
2021-08-13T02:32:29.193Z,1628821949.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:29.214Z,1628821949.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:29.637Z,1628821949.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023229.92*5D

2021-08-13T02:32:29.664Z,1628821949.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 179.278751 deg, deltaT: 4.379154 s, approachRate: 0.287727 m/s, LOS rate: -1.718415 deg/s, posRepo size: 4
2021-08-13T02:32:29.666Z,1628821949.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.020000 m,
      bearing: 179.278751 deg,
      approachRate: 0.287727 m/s,
      LOS rate: -1.718415 deg/s,
      cmd update: -5.155244 deg/s,
      cmd heading: 212.807080 deg,
      new cmd heading: 214.145657 deg.

2021-08-13T02:32:32.094Z,1628821952.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:32.441Z,1628821952.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:32.441Z,1628821952.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:32.441Z,1628821952.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:32.442Z,1628821952.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:32.850Z,1628821952.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,003AE,189,80,80,61,FF
2021-08-13T02:32:32.850Z,1628821952.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:32.851Z,1628821952.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:32.853Z,1628821952.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:33.292Z,1628821953.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:33.657Z,1628821953.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,003BE,189,80,80,A9,FF
2021-08-13T02:32:33.657Z,1628821953.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:33.756Z,1628821953.756 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:34.105Z,1628821954.105 [Micromodem](INFO): Nmea in: $SNTTA,0.377421,,,,023234.37*44

2021-08-13T02:32:34.201Z,1628821954.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 174.209138 deg, deltaT: 4.543138 s, approachRate: 0.211308 m/s, LOS rate: -1.115883 deg/s, posRepo size: 4
2021-08-13T02:32:34.203Z,1628821954.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.980001 m,
      bearing: 174.209138 deg,
      approachRate: 0.211308 m/s,
      LOS rate: -1.115883 deg/s,
      cmd update: -3.347650 deg/s,
      cmd heading: 189.593858 deg,
      new cmd heading: 187.106108 deg.

2021-08-13T02:32:36.528Z,1628821956.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:36.901Z,1628821956.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:36.901Z,1628821956.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:36.901Z,1628821956.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:36.902Z,1628821956.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:37.325Z,1628821957.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,003BE,189,80,80,A9,FF
2021-08-13T02:32:37.325Z,1628821957.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:37.325Z,1628821957.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:37.327Z,1628821957.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:37.722Z,1628821957.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:38.108Z,1628821958.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39F,000,003D7,189,80,80,9C,FF
2021-08-13T02:32:38.109Z,1628821958.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:38.169Z,1628821958.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:38.526Z,1628821958.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023238.85*5B

2021-08-13T02:32:38.578Z,1628821958.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 162.813610 deg, deltaT: 4.411698 s, approachRate: 0.340005 m/s, LOS rate: -2.583026 deg/s, posRepo size: 4
2021-08-13T02:32:38.579Z,1628821958.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.48 m. Rolling out.
2021-08-13T02:32:38.579Z,1628821958.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T02:32:40.975Z,1628821960.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:41.373Z,1628821961.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:41.373Z,1628821961.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:41.373Z,1628821961.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:41.374Z,1628821961.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:41.787Z,1628821961.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39F,000,003D7,189,80,80,9C,FF
2021-08-13T02:32:41.787Z,1628821961.787 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:41.788Z,1628821961.788 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:41.790Z,1628821961.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:42.169Z,1628821962.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:42.553Z,1628821962.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,003F0,188,80,80,7E,FF
2021-08-13T02:32:42.553Z,1628821962.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:42.608Z,1628821962.608 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:42.979Z,1628821962.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023243.31*58

2021-08-13T02:32:43.013Z,1628821963.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 164.288056 deg, deltaT: 4.439568 s, approachRate: 0.337871 m/s, LOS rate: 0.332115 deg/s, posRepo size: 4
2021-08-13T02:32:45.414Z,1628821965.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:45.813Z,1628821965.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:45.813Z,1628821965.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:45.813Z,1628821965.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:45.814Z,1628821965.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:46.189Z,1628821966.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,003F0,188,80,80,7E,FF
2021-08-13T02:32:46.190Z,1628821966.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:46.190Z,1628821966.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:46.191Z,1628821966.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:46.606Z,1628821966.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:47.006Z,1628821967.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,003F8,185,80,80,9A,FF
2021-08-13T02:32:47.006Z,1628821967.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:47.046Z,1628821967.046 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:47.434Z,1628821967.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023247.71*58

2021-08-13T02:32:47.460Z,1628821967.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 165.422127 deg, deltaT: 4.437197 s, approachRate: 0.108176 m/s, LOS rate: 0.255583 deg/s, posRepo size: 4
2021-08-13T02:32:49.899Z,1628821969.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:50.225Z,1628821970.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:50.225Z,1628821970.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:50.225Z,1628821970.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:50.226Z,1628821970.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:50.629Z,1628821970.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,003F8,185,80,80,9A,FF
2021-08-13T02:32:50.629Z,1628821970.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:50.629Z,1628821970.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:50.631Z,1628821970.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:51.041Z,1628821971.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:51.437Z,1628821971.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00405,186,80,80,6D,FF
2021-08-13T02:32:51.437Z,1628821971.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:51.514Z,1628821971.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:51.883Z,1628821971.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023252.15*5E

2021-08-13T02:32:51.919Z,1628821971.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 156.497543 deg, deltaT: 4.468880 s, approachRate: 0.174540 m/s, LOS rate: -1.997052 deg/s, posRepo size: 4
2021-08-13T02:32:54.309Z,1628821974.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:54.669Z,1628821974.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:54.669Z,1628821974.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:54.669Z,1628821974.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:54.670Z,1628821974.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:55.073Z,1628821975.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00405,186,80,80,6D,FF
2021-08-13T02:32:55.073Z,1628821975.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:55.073Z,1628821975.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:55.075Z,1628821975.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:55.491Z,1628821975.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:32:55.889Z,1628821975.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,0041B,188,80,80,71,FF
2021-08-13T02:32:55.889Z,1628821975.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:32:55.962Z,1628821975.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:32:56.370Z,1628821976.370 [Micromodem](INFO): Nmea in: $SNTTA,0.033364,,,,023256.60*47

2021-08-13T02:32:56.376Z,1628821976.376 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:32:56.397Z,1628821976.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 147.805963 deg, deltaT: 4.447343 s, approachRate: 0.296807 m/s, LOS rate: -1.954331 deg/s, posRepo size: 4
2021-08-13T02:32:58.756Z,1628821978.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:32:59.117Z,1628821979.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:32:59.117Z,1628821979.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:32:59.117Z,1628821979.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:32:59.118Z,1628821979.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:32:59.525Z,1628821979.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,0041B,188,80,80,71,FF
2021-08-13T02:32:59.525Z,1628821979.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:32:59.525Z,1628821979.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:32:59.527Z,1628821979.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:32:59.933Z,1628821979.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:00.325Z,1628821980.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,0042C,189,80,80,A0,FF
2021-08-13T02:33:00.325Z,1628821980.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:00.393Z,1628821980.393 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:00.773Z,1628821980.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023301.05*58

2021-08-13T02:33:00.795Z,1628821980.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 139.954114 deg, deltaT: 4.431011 s, approachRate: 0.230196 m/s, LOS rate: -1.772022 deg/s, posRepo size: 4
2021-08-13T02:33:03.182Z,1628821983.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:03.557Z,1628821983.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:03.557Z,1628821983.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:03.558Z,1628821983.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:03.559Z,1628821983.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:03.965Z,1628821983.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,0042C,189,80,80,A0,FF
2021-08-13T02:33:03.966Z,1628821983.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:03.966Z,1628821983.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:03.967Z,1628821983.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:04.383Z,1628821984.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:04.777Z,1628821984.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AE,000,00444,189,80,80,9C,FF
2021-08-13T02:33:04.777Z,1628821984.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:04.829Z,1628821984.829 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:05.217Z,1628821985.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023305.49*54

2021-08-13T02:33:05.219Z,1628821985.219 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:33:05.251Z,1628821985.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 130.508714 deg, deltaT: 4.435728 s, approachRate: 0.324636 m/s, LOS rate: -2.129391 deg/s, posRepo size: 4
2021-08-13T02:33:05.595Z,1628821985.595 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent.
2021-08-13T02:33:05.595Z,1628821985.595 [PowerOnly] Hardware Fault, FailCount= 1
2021-08-13T02:33:05.595Z,1628821985.595 [PowerOnly](ERROR): Hardware Fault
2021-08-13T02:33:05.878Z,1628821985.878 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2021-08-13T02:33:06.004Z,1628821986.004 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:33:06.920Z,1628821986.920 [CBIT](INFO): Clearing failed state for component PowerOnly
2021-08-13T02:33:06.920Z,1628821986.920 [PowerOnly] No Fault, FailCount= 1
2021-08-13T02:33:07.641Z,1628821987.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:08.001Z,1628821988.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:08.001Z,1628821988.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:08.001Z,1628821988.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:08.002Z,1628821988.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:08.417Z,1628821988.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AE,000,00444,189,80,80,9C,FF
2021-08-13T02:33:08.417Z,1628821988.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:08.417Z,1628821988.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:08.419Z,1628821988.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:08.423Z,1628821988.423 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:33:08.813Z,1628821988.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:09.217Z,1628821989.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,356,000,0046C,189,80,80,49,FF
2021-08-13T02:33:09.218Z,1628821989.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:09.242Z,1628821989.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:09.653Z,1628821989.653 [Micromodem](INFO): Nmea in: $SNTTA,0.046565,,,,023309.94*42

2021-08-13T02:33:09.744Z,1628821989.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 135.908074 deg, deltaT: 4.413908 s, approachRate: 0.543735 m/s, LOS rate: 1.223261 deg/s, posRepo size: 4
2021-08-13T02:33:12.115Z,1628821992.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:12.462Z,1628821992.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:12.462Z,1628821992.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:12.462Z,1628821992.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:12.463Z,1628821992.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:12.850Z,1628821992.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
356,000,0046C,189,80,80,49,FF
2021-08-13T02:33:12.850Z,1628821992.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:12.850Z,1628821992.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:12.857Z,1628821992.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:13.277Z,1628821993.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:13.658Z,1628821993.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,0048A,189,80,80,A1,FF
2021-08-13T02:33:13.658Z,1628821993.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:13.781Z,1628821993.781 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:14.113Z,1628821994.113 [Micromodem](INFO): Nmea in: $SNTTA,0.043513,,,,023314.38*4C

2021-08-13T02:33:14.139Z,1628821994.139 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:33:14.182Z,1628821994.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 136.648426 deg, deltaT: 4.538566 s, approachRate: 0.396602 m/s, LOS rate: 0.163125 deg/s, posRepo size: 4
2021-08-13T02:33:16.522Z,1628821996.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:16.901Z,1628821996.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:16.901Z,1628821996.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:16.901Z,1628821996.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:16.902Z,1628821996.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:17.305Z,1628821997.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,0048A,189,80,80,A1,FF
2021-08-13T02:33:17.305Z,1628821997.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:17.305Z,1628821997.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:17.307Z,1628821997.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:17.732Z,1628821997.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:18.121Z,1628821998.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,004AE,189,80,80,3D,FF
2021-08-13T02:33:18.121Z,1628821998.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:18.222Z,1628821998.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:18.541Z,1628821998.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023318.83*5E

2021-08-13T02:33:18.575Z,1628821998.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 131.163114 deg, deltaT: 4.441340 s, approachRate: 0.486339 m/s, LOS rate: -1.235058 deg/s, posRepo size: 4
2021-08-13T02:33:20.985Z,1628822000.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:21.365Z,1628822001.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:21.365Z,1628822001.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:21.365Z,1628822001.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:21.365Z,1628822001.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:21.777Z,1628822001.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,004AE,189,80,80,3D,FF
2021-08-13T02:33:21.777Z,1628822001.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:21.777Z,1628822001.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:21.779Z,1628822001.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:22.190Z,1628822002.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:22.574Z,1628822002.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,425,000,004CE,18A,80,80,4A,FF
2021-08-13T02:33:22.574Z,1628822002.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:22.624Z,1628822002.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:23.021Z,1628822003.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023323.30*5E

2021-08-13T02:33:23.072Z,1628822003.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 124.612608 deg, deltaT: 4.401713 s, approachRate: 0.436193 m/s, LOS rate: -1.488172 deg/s, posRepo size: 4
2021-08-13T02:33:25.438Z,1628822005.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:25.824Z,1628822005.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:25.825Z,1628822005.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:25.825Z,1628822005.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:25.826Z,1628822005.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:26.214Z,1628822006.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
425,000,004CE,18A,80,80,4A,FF
2021-08-13T02:33:26.214Z,1628822006.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:26.215Z,1628822006.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:26.217Z,1628822006.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:26.616Z,1628822006.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:27.018Z,1628822007.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,004FD,186,80,80,74,FF
2021-08-13T02:33:27.018Z,1628822007.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:27.099Z,1628822007.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:27.462Z,1628822007.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023327.74*5A

2021-08-13T02:33:27.480Z,1628822007.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 160.612117 deg, deltaT: 4.474709 s, approachRate: 0.630209 m/s, LOS rate: 8.045107 deg/s, posRepo size: 4
2021-08-13T02:33:29.926Z,1628822009.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:30.250Z,1628822010.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:30.250Z,1628822010.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:30.250Z,1628822010.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:30.251Z,1628822010.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:30.653Z,1628822010.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,004FD,186,80,80,74,FF
2021-08-13T02:33:30.653Z,1628822010.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:30.653Z,1628822010.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:30.655Z,1628822010.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:31.063Z,1628822011.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:31.461Z,1628822011.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00522,184,80,80,6F,FF
2021-08-13T02:33:31.461Z,1628822011.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:31.567Z,1628822011.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:31.912Z,1628822011.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023332.18*54

2021-08-13T02:33:31.997Z,1628822011.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 175.487449 deg, deltaT: 4.468043 s, approachRate: 0.496862 m/s, LOS rate: 3.329272 deg/s, posRepo size: 4
2021-08-13T02:33:32.305Z,1628822012.305 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:33:32.305Z,1628822012.305 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:32.306Z,1628822012.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:33:32.306Z,1628822012.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:33:32.306Z,1628822012.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:33:32.306Z,1628822012.306 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:33:32.726Z,1628822012.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:33:32.727Z,1628822012.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:32.727Z,1628822012.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:33:32.727Z,1628822012.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:34.338Z,1628822014.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:34.693Z,1628822014.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:34.693Z,1628822014.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:34.693Z,1628822014.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:34.694Z,1628822014.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:35.097Z,1628822015.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00522,184,80,80,6F,FF
2021-08-13T02:33:35.097Z,1628822015.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:35.097Z,1628822015.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:35.099Z,1628822015.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:35.504Z,1628822015.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:35.913Z,1628822015.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,0054C,186,80,80,82,FF
2021-08-13T02:33:35.913Z,1628822015.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:36.356Z,1628822016.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023336.62*5D

2021-08-13T02:33:36.384Z,1628822016.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 192.398041 deg, deltaT: 4.453093 s, approachRate: 0.565898 m/s, LOS rate: 3.797493 deg/s, posRepo size: 4
2021-08-13T02:33:38.810Z,1628822018.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:39.141Z,1628822019.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:39.141Z,1628822019.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:39.141Z,1628822019.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:39.142Z,1628822019.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:39.549Z,1628822019.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,0054C,186,80,80,82,FF
2021-08-13T02:33:39.549Z,1628822019.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:39.549Z,1628822019.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:39.551Z,1628822019.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:39.945Z,1628822019.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:40.350Z,1628822020.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,0057A,186,80,80,3F,FF
2021-08-13T02:33:40.350Z,1628822020.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:40.799Z,1628822020.799 [Micromodem](INFO): Nmea in: $SNTTA,0.050110,,,,023341.07*45

2021-08-13T02:33:40.843Z,1628822020.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 192.666973 deg, deltaT: 4.354256 s, approachRate: 0.633863 m/s, LOS rate: 0.061763 deg/s, posRepo size: 4
2021-08-13T02:33:43.225Z,1628822023.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:43.585Z,1628822023.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:43.585Z,1628822023.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:43.585Z,1628822023.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:43.586Z,1628822023.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:43.994Z,1628822023.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,0057A,186,80,80,3F,FF
2021-08-13T02:33:43.994Z,1628822023.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:43.994Z,1628822023.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:43.995Z,1628822023.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:44.393Z,1628822024.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:44.819Z,1628822024.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00415,186,80,80,92,FF
2021-08-13T02:33:44.820Z,1628822024.820 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:45.237Z,1628822025.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023345.52*5A

2021-08-13T02:33:45.271Z,1628822025.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 201.827828 deg, deltaT: 4.540309 s, approachRate: -4.717741 m/s, LOS rate: 2.017672 deg/s, posRepo size: 4
2021-08-13T02:33:45.645Z,1628822025.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:33:45.645Z,1628822025.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:33:45.646Z,1628822025.646 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:33:45.646Z,1628822025.646 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:33:45.646Z,1628822025.646 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:33:45.646Z,1628822025.646 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:33:46.077Z,1628822026.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:33:46.077Z,1628822026.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:33:46.077Z,1628822026.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:33:46.077Z,1628822026.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:33:47.645Z,1628822027.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:48.029Z,1628822028.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:48.029Z,1628822028.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:48.029Z,1628822028.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:48.030Z,1628822028.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:48.437Z,1628822028.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00415,186,80,80,92,FF
2021-08-13T02:33:48.437Z,1628822028.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:48.437Z,1628822028.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:48.439Z,1628822028.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:48.841Z,1628822028.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:49.261Z,1628822029.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,005CD,186,80,80,7B,FF
2021-08-13T02:33:49.262Z,1628822029.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:49.281Z,1628822029.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:33:49.685Z,1628822029.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023349.96*5E

2021-08-13T02:33:49.793Z,1628822029.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 199.809985 deg, deltaT: 4.366657 s, approachRate: 6.045815 m/s, LOS rate: -0.462102 deg/s, posRepo size: 4
2021-08-13T02:33:50.121Z,1628822030.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:33:50.121Z,1628822030.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:50.121Z,1628822030.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:33:50.122Z,1628822030.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:33:50.122Z,1628822030.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:33:50.122Z,1628822030.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:33:50.489Z,1628822030.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:33:50.489Z,1628822030.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:50.489Z,1628822030.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:33:50.489Z,1628822030.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:33:52.122Z,1628822032.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:52.473Z,1628822032.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:52.473Z,1628822032.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:52.473Z,1628822032.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:52.474Z,1628822032.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:52.887Z,1628822032.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,005CD,186,80,80,7B,FF
2021-08-13T02:33:52.888Z,1628822032.888 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:52.888Z,1628822032.888 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:52.890Z,1628822032.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:53.325Z,1628822033.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:53.722Z,1628822033.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,005F9,186,80,80,9E,FF
2021-08-13T02:33:53.723Z,1628822033.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:54.141Z,1628822034.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023354.41*58

2021-08-13T02:33:54.180Z,1628822034.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 202.915454 deg, deltaT: 4.624773 s, approachRate: 0.570838 m/s, LOS rate: 0.671486 deg/s, posRepo size: 4
2021-08-13T02:33:56.583Z,1628822036.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:33:56.941Z,1628822036.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:33:56.941Z,1628822036.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:33:56.941Z,1628822036.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:33:56.942Z,1628822036.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:33:57.349Z,1628822037.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,005F9,186,80,80,9E,FF
2021-08-13T02:33:57.349Z,1628822037.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:33:57.349Z,1628822037.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:33:57.351Z,1628822037.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:33:57.813Z,1628822037.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:33:58.157Z,1628822038.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00628,186,80,80,5C,FF
2021-08-13T02:33:58.157Z,1628822038.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:33:58.606Z,1628822038.606 [Micromodem](INFO): Nmea in: $SNTTA,0.048582,,,,023358.87*43

2021-08-13T02:33:58.628Z,1628822038.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 197.075819 deg, deltaT: 4.324653 s, approachRate: 0.652077 m/s, LOS rate: -1.350313 deg/s, posRepo size: 4
2021-08-13T02:34:01.023Z,1628822041.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:01.429Z,1628822041.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:01.429Z,1628822041.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:01.429Z,1628822041.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:01.430Z,1628822041.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:01.821Z,1628822041.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00628,186,80,80,5C,FF
2021-08-13T02:34:01.821Z,1628822041.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:01.821Z,1628822041.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:01.823Z,1628822041.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:02.239Z,1628822042.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:02.622Z,1628822042.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,00656,189,80,80,49,FF
2021-08-13T02:34:02.622Z,1628822042.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:03.069Z,1628822043.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023403.34*5F

2021-08-13T02:34:03.095Z,1628822043.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 139.302186 deg, deltaT: 4.437377 s, approachRate: 0.621988 m/s, LOS rate: -13.019771 deg/s, posRepo size: 4
2021-08-13T02:34:05.479Z,1628822045.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:05.853Z,1628822045.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:05.854Z,1628822045.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:05.854Z,1628822045.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:05.855Z,1628822045.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:06.269Z,1628822046.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,00656,189,80,80,49,FF
2021-08-13T02:34:06.269Z,1628822046.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:06.269Z,1628822046.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:06.271Z,1628822046.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:06.673Z,1628822046.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:07.498Z,1628822047.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023407.79*52

2021-08-13T02:34:08.314Z,1628822048.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:09.913Z,1628822049.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,49,FF
2021-08-13T02:34:09.914Z,1628822049.914 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,49,FF
2021-08-13T02:34:09.914Z,1628822049.914 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:34:11.149Z,1628822051.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:11.517Z,1628822051.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:11.517Z,1628822051.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:11.517Z,1628822051.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:11.518Z,1628822051.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:11.933Z,1628822051.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,49,FF
2021-08-13T02:34:11.933Z,1628822051.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:11.933Z,1628822051.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:11.935Z,1628822051.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:12.340Z,1628822052.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:12.737Z,1628822052.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,006C1,189,80,80,4C,FF
2021-08-13T02:34:12.737Z,1628822052.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:13.184Z,1628822053.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023413.46*5B

2021-08-13T02:34:13.213Z,1628822053.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.239998 m, bearing: 140.692758 deg, deltaT: 10.144964 s, approachRate: 0.632826 m/s, LOS rate: 0.137070 deg/s, posRepo size: 4
2021-08-13T02:34:15.592Z,1628822055.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:15.965Z,1628822055.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:15.965Z,1628822055.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:15.965Z,1628822055.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:15.966Z,1628822055.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:16.394Z,1628822056.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,006C1,189,80,80,4C,FF
2021-08-13T02:34:16.394Z,1628822056.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:16.394Z,1628822056.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:16.412Z,1628822056.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:16.796Z,1628822056.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:17.173Z,1628822057.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,006F1,189,80,80,69,FF
2021-08-13T02:34:17.175Z,1628822057.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:17.614Z,1628822057.614 [Micromodem](INFO): Nmea in: $SNTTA,0.057282,,,,023417.93*43

2021-08-13T02:34:17.633Z,1628822057.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 143.049747 deg, deltaT: 4.417058 s, approachRate: 0.652019 m/s, LOS rate: 0.533611 deg/s, posRepo size: 4
2021-08-13T02:34:20.043Z,1628822060.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:34:20.059Z,1628822060.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:20.417Z,1628822060.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:20.417Z,1628822060.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:20.417Z,1628822060.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:20.418Z,1628822060.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:20.833Z,1628822060.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,006F1,189,80,80,69,FF
2021-08-13T02:34:20.833Z,1628822060.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:20.833Z,1628822060.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:20.835Z,1628822060.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:21.318Z,1628822061.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:21.622Z,1628822061.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00721,189,80,80,56,FF
2021-08-13T02:34:21.622Z,1628822061.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:22.061Z,1628822062.061 [Micromodem](INFO): Nmea in: $SNTTA,0.228100,,,,023422.36*49

2021-08-13T02:34:22.122Z,1628822062.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 146.103812 deg, deltaT: 4.411948 s, approachRate: 0.652772 m/s, LOS rate: 0.692226 deg/s, posRepo size: 4
2021-08-13T02:34:24.466Z,1628822064.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:24.866Z,1628822064.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:24.866Z,1628822064.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:24.866Z,1628822064.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:24.867Z,1628822064.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:25.257Z,1628822065.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00721,189,80,80,56,FF
2021-08-13T02:34:25.257Z,1628822065.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:25.257Z,1628822065.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:25.259Z,1628822065.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:25.672Z,1628822065.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:26.073Z,1628822066.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26C,000,0074E,189,80,80,4E,FF
2021-08-13T02:34:26.073Z,1628822066.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:26.510Z,1628822066.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023426.78*50

2021-08-13T02:34:26.528Z,1628822066.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.700005 m, bearing: 148.071425 deg, deltaT: 4.532640 s, approachRate: 0.595680 m/s, LOS rate: 0.434099 deg/s, posRepo size: 4
2021-08-13T02:34:28.936Z,1628822068.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:29.301Z,1628822069.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:29.301Z,1628822069.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:29.301Z,1628822069.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:29.302Z,1628822069.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:29.720Z,1628822069.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26C,000,0074E,189,80,80,4E,FF
2021-08-13T02:34:29.721Z,1628822069.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:29.722Z,1628822069.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:29.733Z,1628822069.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:30.109Z,1628822070.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:30.505Z,1628822070.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,0077B,189,80,80,7E,FF
2021-08-13T02:34:30.506Z,1628822070.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:30.949Z,1628822070.949 [Micromodem](INFO): Nmea in: $SNTTA,0.063440,,,,023431.26*46

2021-08-13T02:34:30.986Z,1628822070.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 150.013029 deg, deltaT: 4.355638 s, approachRate: 0.619886 m/s, LOS rate: 0.445768 deg/s, posRepo size: 4
2021-08-13T02:34:33.379Z,1628822073.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:33.785Z,1628822073.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:33.785Z,1628822073.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:33.785Z,1628822073.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:33.786Z,1628822073.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:34.141Z,1628822074.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,0077B,189,80,80,7E,FF
2021-08-13T02:34:34.141Z,1628822074.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:34.142Z,1628822074.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:34.143Z,1628822074.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:34.553Z,1628822074.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:34.953Z,1628822074.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,007AD,189,80,80,70,FF
2021-08-13T02:34:34.953Z,1628822074.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:35.402Z,1628822075.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023435.66*5D

2021-08-13T02:34:35.424Z,1628822075.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 146.769250 deg, deltaT: 4.477563 s, approachRate: 0.670006 m/s, LOS rate: -0.724452 deg/s, posRepo size: 4
2021-08-13T02:34:37.908Z,1628822077.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:38.193Z,1628822078.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:38.193Z,1628822078.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:38.193Z,1628822078.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:38.194Z,1628822078.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:38.589Z,1628822078.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,007AD,189,80,80,70,FF
2021-08-13T02:34:38.589Z,1628822078.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:38.589Z,1628822078.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:38.591Z,1628822078.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:39.004Z,1628822079.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:39.401Z,1628822079.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,259,000,007DB,189,80,80,74,FF
2021-08-13T02:34:39.401Z,1628822079.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:39.852Z,1628822079.852 [Micromodem](INFO): Nmea in: $SNTTA,0.079277,,,,023440.11*4D

2021-08-13T02:34:39.927Z,1628822079.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 148.611475 deg, deltaT: 4.454406 s, approachRate: 0.619613 m/s, LOS rate: 0.413574 deg/s, posRepo size: 4
2021-08-13T02:34:42.243Z,1628822082.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:42.633Z,1628822082.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:42.633Z,1628822082.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:42.633Z,1628822082.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:42.634Z,1628822082.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:43.041Z,1628822083.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
259,000,007DB,189,80,80,74,FF
2021-08-13T02:34:43.041Z,1628822083.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:43.041Z,1628822083.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:43.043Z,1628822083.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:43.461Z,1628822083.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:43.845Z,1628822083.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,0080C,186,80,80,3C,FF
2021-08-13T02:34:43.845Z,1628822083.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:44.277Z,1628822084.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023444.56*58

2021-08-13T02:34:44.307Z,1628822084.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.100006 m, bearing: 192.167905 deg, deltaT: 4.488322 s, approachRate: 0.655034 m/s, LOS rate: 9.704391 deg/s, posRepo size: 4
2021-08-13T02:34:46.705Z,1628822086.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:47.081Z,1628822087.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:47.081Z,1628822087.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:47.081Z,1628822087.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:47.082Z,1628822087.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:47.489Z,1628822087.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,0080C,186,80,80,3C,FF
2021-08-13T02:34:47.489Z,1628822087.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:47.489Z,1628822087.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:47.491Z,1628822087.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:47.889Z,1628822087.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:48.293Z,1628822088.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,0083B,189,80,80,6C,FF
2021-08-13T02:34:48.293Z,1628822088.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:48.729Z,1628822088.729 [Micromodem](INFO): Nmea in: $SNTTA,0.146205,,,,023449.01*4D

2021-08-13T02:34:48.802Z,1628822088.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 141.476044 deg, deltaT: 4.362459 s, approachRate: 0.646423 m/s, LOS rate: -11.620020 deg/s, posRepo size: 4
2021-08-13T02:34:51.157Z,1628822091.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:51.529Z,1628822091.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:51.529Z,1628822091.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:51.529Z,1628822091.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:51.530Z,1628822091.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:51.929Z,1628822091.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,0083B,189,80,80,6C,FF
2021-08-13T02:34:51.929Z,1628822091.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:51.929Z,1628822091.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:51.931Z,1628822091.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:52.349Z,1628822092.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:52.729Z,1628822092.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,0086E,187,80,80,7C,FF
2021-08-13T02:34:52.730Z,1628822092.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:53.178Z,1628822093.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023453.45*5C

2021-08-13T02:34:53.208Z,1628822093.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.979996 m, bearing: 150.509680 deg, deltaT: 4.495004 s, approachRate: 0.680755 m/s, LOS rate: 2.009706 deg/s, posRepo size: 4
2021-08-13T02:34:55.601Z,1628822095.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:34:55.969Z,1628822095.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:34:55.969Z,1628822095.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:34:55.969Z,1628822095.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:34:55.970Z,1628822095.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:34:56.386Z,1628822096.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,0086E,187,80,80,7C,FF
2021-08-13T02:34:56.387Z,1628822096.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:34:56.387Z,1628822096.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:34:56.390Z,1628822096.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:34:56.797Z,1628822096.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:34:57.182Z,1628822097.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,0089D,187,80,80,82,FF
2021-08-13T02:34:57.183Z,1628822097.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:34:57.601Z,1628822097.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023457.92*52

2021-08-13T02:34:57.637Z,1628822097.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 149.634172 deg, deltaT: 4.432041 s, approachRate: 0.636277 m/s, LOS rate: -0.197540 deg/s, posRepo size: 4
2021-08-13T02:35:00.063Z,1628822100.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:00.406Z,1628822100.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:00.406Z,1628822100.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:00.406Z,1628822100.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:00.407Z,1628822100.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:00.817Z,1628822100.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,0089D,187,80,80,82,FF
2021-08-13T02:35:00.818Z,1628822100.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:00.818Z,1628822100.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:00.819Z,1628822100.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:01.219Z,1628822101.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:01.621Z,1628822101.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,008CC,189,80,80,50,FF
2021-08-13T02:35:01.621Z,1628822101.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:02.061Z,1628822102.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023502.34*5F

2021-08-13T02:35:02.147Z,1628822102.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.620003 m, bearing: 145.980035 deg, deltaT: 4.401409 s, approachRate: 0.640704 m/s, LOS rate: -0.830220 deg/s, posRepo size: 4
2021-08-13T02:35:04.513Z,1628822104.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:04.850Z,1628822104.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:04.850Z,1628822104.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:04.850Z,1628822104.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:04.851Z,1628822104.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:05.261Z,1628822105.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,008CC,189,80,80,50,FF
2021-08-13T02:35:05.261Z,1628822105.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:05.262Z,1628822105.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:05.263Z,1628822105.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:05.669Z,1628822105.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:06.061Z,1628822106.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24A,000,008FB,189,80,80,85,FF
2021-08-13T02:35:06.062Z,1628822106.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:06.529Z,1628822106.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023506.79*52

2021-08-13T02:35:06.551Z,1628822106.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.440002 m, bearing: 146.987925 deg, deltaT: 4.533376 s, approachRate: 0.622053 m/s, LOS rate: 0.222327 deg/s, posRepo size: 4
2021-08-13T02:35:08.934Z,1628822108.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:09.293Z,1628822109.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:09.293Z,1628822109.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:09.293Z,1628822109.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:09.294Z,1628822109.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:09.721Z,1628822109.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24A,000,008FB,189,80,80,85,FF
2021-08-13T02:35:09.721Z,1628822109.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:09.722Z,1628822109.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:09.727Z,1628822109.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:10.105Z,1628822110.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:10.517Z,1628822110.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00929,187,80,80,7A,FF
2021-08-13T02:35:10.517Z,1628822110.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:10.937Z,1628822110.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023511.26*5E

2021-08-13T02:35:11.006Z,1628822111.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 152.720380 deg, deltaT: 4.382856 s, approachRate: 0.629727 m/s, LOS rate: 1.307927 deg/s, posRepo size: 4
2021-08-13T02:35:13.351Z,1628822113.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:13.771Z,1628822113.771 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:13.776Z,1628822113.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:13.776Z,1628822113.776 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:13.777Z,1628822113.777 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:14.141Z,1628822114.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00929,187,80,80,7A,FF
2021-08-13T02:35:14.141Z,1628822114.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:14.141Z,1628822114.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:14.143Z,1628822114.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:14.556Z,1628822114.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:14.949Z,1628822114.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,0095C,186,80,80,9A,FF
2021-08-13T02:35:14.949Z,1628822114.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:15.393Z,1628822115.393 [Micromodem](INFO): Nmea in: $SNTTA,0.079542,,,,023515.67*4C

2021-08-13T02:35:15.415Z,1628822115.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.260002 m, bearing: 162.236022 deg, deltaT: 4.456561 s, approachRate: 0.686628 m/s, LOS rate: 2.135198 deg/s, posRepo size: 4
2021-08-13T02:35:17.914Z,1628822117.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:18.189Z,1628822118.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:18.190Z,1628822118.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:18.190Z,1628822118.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:18.191Z,1628822118.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:18.605Z,1628822118.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,0095C,186,80,80,9A,FF
2021-08-13T02:35:18.605Z,1628822118.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:18.605Z,1628822118.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:18.607Z,1628822118.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:18.989Z,1628822118.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:19.401Z,1628822119.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,0098B,185,80,80,6F,FF
2021-08-13T02:35:19.402Z,1628822119.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:19.845Z,1628822119.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023520.13*5A

2021-08-13T02:35:19.956Z,1628822119.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.079994 m, bearing: 159.851138 deg, deltaT: 4.412436 s, approachRate: 0.639101 m/s, LOS rate: -0.540491 deg/s, posRepo size: 4
2021-08-13T02:35:21.938Z,1628822121.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:22.221Z,1628822122.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:22.221Z,1628822122.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:22.221Z,1628822122.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:22.222Z,1628822122.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:22.637Z,1628822122.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,0098B,185,80,80,6F,FF
2021-08-13T02:35:22.637Z,1628822122.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:22.637Z,1628822122.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:22.639Z,1628822122.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:23.032Z,1628822123.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:23.437Z,1628822123.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,009B9,186,80,80,80,FF
2021-08-13T02:35:23.438Z,1628822123.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:23.870Z,1628822123.870 [Micromodem](INFO): Nmea in: $SNTTA,0.084988,,,,023524.16*40

2021-08-13T02:35:23.953Z,1628822123.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 163.417754 deg, deltaT: 4.050674 s, approachRate: 0.681370 m/s, LOS rate: 0.880499 deg/s, posRepo size: 4
2021-08-13T02:35:26.290Z,1628822126.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:26.665Z,1628822126.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:26.665Z,1628822126.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:26.665Z,1628822126.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:26.666Z,1628822126.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:27.069Z,1628822127.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,009B9,186,80,80,80,FF
2021-08-13T02:35:27.069Z,1628822127.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:27.070Z,1628822127.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:27.071Z,1628822127.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:27.476Z,1628822127.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:27.882Z,1628822127.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,009EA,189,80,80,4E,FF
2021-08-13T02:35:27.882Z,1628822127.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:28.313Z,1628822128.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023528.60*56

2021-08-13T02:35:28.344Z,1628822128.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.780006 m, bearing: 147.245669 deg, deltaT: 4.495933 s, approachRate: 0.653925 m/s, LOS rate: -3.597047 deg/s, posRepo size: 4
2021-08-13T02:35:30.775Z,1628822130.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:31.109Z,1628822131.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:31.109Z,1628822131.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:31.109Z,1628822131.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:31.110Z,1628822131.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:31.513Z,1628822131.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,009EA,189,80,80,4E,FF
2021-08-13T02:35:31.513Z,1628822131.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:31.514Z,1628822131.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:31.515Z,1628822131.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:31.941Z,1628822131.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:32.329Z,1628822132.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,00A1B,186,80,80,83,FF
2021-08-13T02:35:32.329Z,1628822132.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:32.778Z,1628822132.778 [Micromodem](INFO): Nmea in: $SNTTA,0.080287,,,,023533.04*45

2021-08-13T02:35:32.804Z,1628822132.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 154.211069 deg, deltaT: 4.399977 s, approachRate: 0.668182 m/s, LOS rate: 1.583054 deg/s, posRepo size: 4
2021-08-13T02:35:35.192Z,1628822135.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:35.557Z,1628822135.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:35.557Z,1628822135.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:35.558Z,1628822135.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:35.559Z,1628822135.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:35.953Z,1628822135.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,00A1B,186,80,80,83,FF
2021-08-13T02:35:35.953Z,1628822135.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:35.954Z,1628822135.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:35.955Z,1628822135.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:36.368Z,1628822136.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:36.782Z,1628822136.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,00A4A,186,80,80,61,FF
2021-08-13T02:35:36.782Z,1628822136.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:37.205Z,1628822137.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023537.48*52

2021-08-13T02:35:37.240Z,1628822137.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.540001 m, bearing: 160.895911 deg, deltaT: 4.463013 s, approachRate: 0.631862 m/s, LOS rate: 1.497832 deg/s, posRepo size: 4
2021-08-13T02:35:39.611Z,1628822139.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:39.997Z,1628822139.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:39.997Z,1628822139.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:39.997Z,1628822139.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:39.998Z,1628822139.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:40.409Z,1628822140.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,00A4A,186,80,80,61,FF
2021-08-13T02:35:40.409Z,1628822140.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:40.409Z,1628822140.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:40.411Z,1628822140.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:40.832Z,1628822140.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:41.213Z,1628822141.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00A77,186,80,80,88,FF
2021-08-13T02:35:41.213Z,1628822141.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:41.649Z,1628822141.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023541.93*55

2021-08-13T02:35:41.692Z,1628822141.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 159.172750 deg, deltaT: 4.464727 s, approachRate: 0.604741 m/s, LOS rate: -0.385950 deg/s, posRepo size: 4
2021-08-13T02:35:44.090Z,1628822144.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:44.449Z,1628822144.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:44.449Z,1628822144.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:44.449Z,1628822144.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:44.450Z,1628822144.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:44.851Z,1628822144.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00A77,186,80,80,88,FF
2021-08-13T02:35:44.851Z,1628822144.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:44.852Z,1628822144.852 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:44.854Z,1628822144.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:45.253Z,1628822145.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:45.651Z,1628822145.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00AA4,185,80,80,96,FF
2021-08-13T02:35:45.651Z,1628822145.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:46.094Z,1628822146.094 [Micromodem](INFO): Nmea in: $SNTTA,0.096874,,,,023546.37*46

2021-08-13T02:35:46.122Z,1628822146.122 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:35:46.135Z,1628822146.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.940002 m, bearing: 160.369632 deg, deltaT: 4.369655 s, approachRate: 0.617897 m/s, LOS rate: 0.273908 deg/s, posRepo size: 4
2021-08-13T02:35:48.519Z,1628822148.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:48.889Z,1628822148.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:48.889Z,1628822148.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:48.889Z,1628822148.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:48.890Z,1628822148.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:49.289Z,1628822149.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00AA4,185,80,80,96,FF
2021-08-13T02:35:49.289Z,1628822149.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:49.289Z,1628822149.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:49.291Z,1628822149.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:49.727Z,1628822149.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:50.101Z,1628822150.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00AD8,187,80,80,45,FF
2021-08-13T02:35:50.101Z,1628822150.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:50.537Z,1628822150.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023550.81*56

2021-08-13T02:35:50.571Z,1628822150.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.060013 m, bearing: 152.191696 deg, deltaT: 4.516306 s, approachRate: 0.690832 m/s, LOS rate: -1.810758 deg/s, posRepo size: 4
2021-08-13T02:35:52.969Z,1628822152.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:53.329Z,1628822153.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:53.329Z,1628822153.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:53.329Z,1628822153.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:53.330Z,1628822153.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:53.766Z,1628822153.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00AD8,187,80,80,45,FF
2021-08-13T02:35:53.766Z,1628822153.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:53.767Z,1628822153.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:53.774Z,1628822153.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:54.153Z,1628822154.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:54.554Z,1628822154.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00B0C,186,80,80,45,FF
2021-08-13T02:35:54.554Z,1628822154.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:54.973Z,1628822154.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023555.30*59

2021-08-13T02:35:55.020Z,1628822155.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.179993 m, bearing: 169.518014 deg, deltaT: 4.414938 s, approachRate: 0.706687 m/s, LOS rate: 3.924476 deg/s, posRepo size: 4
2021-08-13T02:35:57.411Z,1628822157.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:35:57.821Z,1628822157.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:35:57.821Z,1628822157.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:35:57.821Z,1628822157.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:35:57.822Z,1628822157.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:35:58.185Z,1628822158.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00B0C,186,80,80,45,FF
2021-08-13T02:35:58.185Z,1628822158.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:35:58.185Z,1628822158.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:35:58.187Z,1628822158.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:35:58.592Z,1628822158.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:35:59.001Z,1628822159.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,00B3E,186,80,80,84,FF
2021-08-13T02:35:59.001Z,1628822159.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:35:59.445Z,1628822159.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023559.71*50

2021-08-13T02:35:59.469Z,1628822159.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.180008 m, bearing: 164.187379 deg, deltaT: 4.460063 s, approachRate: 0.672640 m/s, LOS rate: -1.195193 deg/s, posRepo size: 4
2021-08-13T02:35:59.867Z,1628822159.867 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:36:01.917Z,1628822161.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:02.229Z,1628822162.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:02.229Z,1628822162.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:02.229Z,1628822162.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:02.230Z,1628822162.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:02.633Z,1628822162.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,00B3E,186,80,80,84,FF
2021-08-13T02:36:02.633Z,1628822162.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:02.633Z,1628822162.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:02.635Z,1628822162.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:03.041Z,1628822163.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:03.859Z,1628822163.859 [Micromodem](INFO): Nmea in: $SNTTA,0.445539,0.445389,,,023604.16*57

2021-08-13T02:36:03.908Z,1628822163.908 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T02:36:03.908Z,1628822163.908 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T02:36:03.908Z,1628822163.908 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T02:36:04.068Z,1628822164.068 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T02:36:04.320Z,1628822164.320 [RDI_Pathfinder](INFO): Powering down
2021-08-13T02:36:04.690Z,1628822164.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:05.209Z,1628822165.209 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T02:36:05.209Z,1628822165.209 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T02:36:06.277Z,1628822166.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,84,FF
2021-08-13T02:36:06.277Z,1628822166.277 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,84,FF
2021-08-13T02:36:06.278Z,1628822166.278 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:36:07.502Z,1628822167.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:07.905Z,1628822167.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:07.905Z,1628822167.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:07.905Z,1628822167.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:07.906Z,1628822167.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:08.289Z,1628822168.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,84,FF
2021-08-13T02:36:08.289Z,1628822168.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:08.289Z,1628822168.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:08.291Z,1628822168.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:08.704Z,1628822168.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:09.101Z,1628822169.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00BBE,183,80,80,35,FF
2021-08-13T02:36:09.102Z,1628822169.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:09.537Z,1628822169.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023609.81*59

2021-08-13T02:36:09.559Z,1628822169.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.860001 m, bearing: 177.616651 deg, deltaT: 10.068899 s, approachRate: 0.762744 m/s, LOS rate: 1.333738 deg/s, posRepo size: 4
2021-08-13T02:36:11.959Z,1628822171.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:12.325Z,1628822172.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:12.325Z,1628822172.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:12.325Z,1628822172.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:12.326Z,1628822172.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:12.740Z,1628822172.740 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00BBE,183,80,80,35,FF
2021-08-13T02:36:12.740Z,1628822172.740 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:12.741Z,1628822172.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:12.747Z,1628822172.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:13.142Z,1628822173.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:13.550Z,1628822173.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00BE1,184,80,80,89,FF
2021-08-13T02:36:13.551Z,1628822173.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:13.977Z,1628822173.977 [Micromodem](INFO): Nmea in: $SNTTA,0.122000,,,,023614.27*46

2021-08-13T02:36:14.015Z,1628822174.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.959991 m, bearing: 172.208153 deg, deltaT: 4.459939 s, approachRate: 0.470856 m/s, LOS rate: -1.212685 deg/s, posRepo size: 4
2021-08-13T02:36:16.443Z,1628822176.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:16.806Z,1628822176.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:16.806Z,1628822176.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:16.806Z,1628822176.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:16.807Z,1628822176.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:17.181Z,1628822177.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00BE1,184,80,80,89,FF
2021-08-13T02:36:17.181Z,1628822177.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:17.181Z,1628822177.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:17.183Z,1628822177.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:17.596Z,1628822177.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:17.986Z,1628822177.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00C14,184,80,80,7D,FF
2021-08-13T02:36:17.986Z,1628822177.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:18.437Z,1628822178.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023618.70*57

2021-08-13T02:36:18.459Z,1628822178.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.020004 m, bearing: 173.166332 deg, deltaT: 4.450358 s, approachRate: 0.687588 m/s, LOS rate: 0.215304 deg/s, posRepo size: 4
2021-08-13T02:36:20.889Z,1628822180.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:21.213Z,1628822181.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:21.213Z,1628822181.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:21.213Z,1628822181.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:21.214Z,1628822181.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:21.622Z,1628822181.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00C14,184,80,80,7D,FF
2021-08-13T02:36:21.622Z,1628822181.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:21.622Z,1628822181.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:21.625Z,1628822181.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:22.029Z,1628822182.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:22.875Z,1628822182.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023623.15*5C

2021-08-13T02:36:23.679Z,1628822183.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:25.257Z,1628822185.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:25.257Z,1628822185.257 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:25.257Z,1628822185.257 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:36:26.553Z,1628822186.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:26.873Z,1628822186.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:26.874Z,1628822186.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:26.874Z,1628822186.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:26.875Z,1628822186.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:27.269Z,1628822187.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:27.269Z,1628822187.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:27.270Z,1628822187.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:27.271Z,1628822187.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:27.677Z,1628822187.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:28.510Z,1628822188.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023628.79*5D

2021-08-13T02:36:29.331Z,1628822189.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:30.921Z,1628822190.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:30.922Z,1628822190.922 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:30.922Z,1628822190.922 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:36:31.734Z,1628822191.734 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:36:32.159Z,1628822192.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:32.537Z,1628822192.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:32.537Z,1628822192.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:32.537Z,1628822192.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:32.538Z,1628822192.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:32.933Z,1628822192.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,7D,FF
2021-08-13T02:36:32.933Z,1628822192.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:32.933Z,1628822192.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:32.935Z,1628822192.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:33.345Z,1628822193.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:33.737Z,1628822193.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,00CC5,184,80,80,7D,FF
2021-08-13T02:36:33.738Z,1628822193.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:34.190Z,1628822194.190 [Micromodem](INFO): Nmea in: $SNTTA,0.112011,,,,023634.46*40

2021-08-13T02:36:34.217Z,1628822194.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.639999 m, bearing: 171.909878 deg, deltaT: 15.905928 s, approachRate: 0.667675 m/s, LOS rate: -0.078993 deg/s, posRepo size: 4
2021-08-13T02:36:34.217Z,1628822194.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 158.64 m. Resuming terminal guidance.
2021-08-13T02:36:34.217Z,1628822194.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:36:36.594Z,1628822196.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:36.984Z,1628822196.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:36.985Z,1628822196.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:36.985Z,1628822196.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:36.986Z,1628822196.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:37.373Z,1628822197.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,00CC5,184,80,80,7D,FF
2021-08-13T02:36:37.373Z,1628822197.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:37.373Z,1628822197.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:37.375Z,1628822197.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:37.813Z,1628822197.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:38.621Z,1628822198.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023638.90*5B

2021-08-13T02:36:39.423Z,1628822199.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:40.201Z,1628822200.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0622A,185,80,80,94,FF
2021-08-13T02:36:40.201Z,1628822200.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:40.640Z,1628822200.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1470.300049 m, bearing: 179.227415 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:36:40.641Z,1628822200.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 179.227415deg and heading rate command to 0 deg/s.
2021-08-13T02:36:43.065Z,1628822203.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:43.441Z,1628822203.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:43.441Z,1628822203.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:43.441Z,1628822203.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:43.442Z,1628822203.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:43.845Z,1628822203.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0622A,185,80,80,94,FF
2021-08-13T02:36:43.846Z,1628822203.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:43.846Z,1628822203.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:43.848Z,1628822203.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:44.253Z,1628822204.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:36:45.074Z,1628822205.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023645.37*5C

2021-08-13T02:36:45.858Z,1628822205.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,04052,186,80,80,A7,FF
2021-08-13T02:36:45.858Z,1628822205.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:36:46.288Z,1628822206.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 950.460083 m, bearing: 188.321443 deg, deltaT: 5.715811 s, approachRate: -90.947716 m/s, LOS rate: 1.591030 deg/s, posRepo size: 2
2021-08-13T02:36:46.290Z,1628822206.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 950.460083 m,
      bearing: 188.321443 deg,
      approachRate: -90.947716 m/s,
      LOS rate: 1.591030 deg/s,
      cmd update: 4.773091 deg/s,
      cmd heading: 179.227415 deg,
      new cmd heading: 179.227415 deg.

2021-08-13T02:36:47.959Z,1628822207.959 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T02:36:47.959Z,1628822207.959 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T02:36:47.959Z,1628822207.959 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T02:36:47.959Z,1628822207.959 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:36:47.959Z,1628822207.959 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T02:36:48.501Z,1628822208.501 [Micromodem](INFO): Outgoing frame #1, 60 bytes: B6AD15613F0000005D00000400260000000000000000151D80030C5669C08C799860386C198F12059DDAFB58297FABCEF2412DE4C5CFCAB1D1C69500
2021-08-13T02:36:48.502Z,1628822208.502 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-13T02:36:48.546Z,1628822208.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:48.727Z,1628822208.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:48.727Z,1628822208.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:48.727Z,1628822208.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:48.728Z,1628822208.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:48.736Z,1628822208.736 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-13T02:36:49.129Z,1628822209.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,04052,186,80,80,A7,FF
2021-08-13T02:36:49.129Z,1628822209.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:49.129Z,1628822209.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:49.131Z,1628822209.131 [Micromodem](INFO): Nmea in: $CADRQ,023649,1,10,0,64,1*7C

2021-08-13T02:36:49.131Z,1628822209.131 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD15613F0000005D00000400260000000000000000151D80030C5669C08C799860386C198F12059DDAFB58297FABCEF2412DE4C5CFCAB1D1C69500*43

2021-08-13T02:36:49.562Z,1628822209.562 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-13T02:36:49.563Z,1628822209.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:36:49.938Z,1628822209.938 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-13T02:36:49.938Z,1628822209.938 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-13T02:36:51.170Z,1628822211.170 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-13T02:36:51.170Z,1628822211.170 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-13T02:36:51.285Z,1628822211.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:51.611Z,1628822211.611 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,023650.675123,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T02:36:51.612Z,1628822211.612 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,023650.675123,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-13T02:36:53.196Z,1628822213.196 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T02:36:53.198Z,1628822213.198 [Micromodem](INFO): Sent 52 bytes from file Logs/20210812T232438/Courier0063.lzma.parts
2021-08-13T02:36:53.198Z,1628822213.198 [Micromodem](INFO): Packets left to send: 0
2021-08-13T02:36:53.614Z,1628822213.614 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813023653.712690,06,12672,41,0174,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,5.4,5.71,14,-2.71,-01,0.71,54,14500,4000*53

2021-08-13T02:36:53.615Z,1628822213.615 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813023653.712690,06,12672,41,0174,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,5.4,5.71,14,-2.71,-01,0.71,54,14500,4000*53

2021-08-13T02:36:53.894Z,1628822213.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:53.895Z,1628822213.895 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T02:36:53.895Z,1628822213.895 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T02:36:53.895Z,1628822213.895 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T02:36:53.895Z,1628822213.895 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:36:53.895Z,1628822213.895 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T02:36:54.989Z,1628822214.989 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.260436
2021-08-13T02:36:56.615Z,1628822216.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:36:56.996Z,1628822216.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:36:56.996Z,1628822216.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:36:56.997Z,1628822216.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:36:56.998Z,1628822216.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:36:57.386Z,1628822217.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,04052,186,80,80,A7,FF
2021-08-13T02:36:57.386Z,1628822217.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:36:57.387Z,1628822217.387 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:36:59.422Z,1628822219.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:00.611Z,1628822220.611 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:01.036Z,1628822221.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:01.490Z,1628822221.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:01.490Z,1628822221.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:01.591Z,1628822221.591 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:37:02.038Z,1628822222.038 [Micromodem](INFO): Nmea in: $SNTTA,0.116823,,,,023702.13*49

2021-08-13T02:37:02.064Z,1628822222.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.860001 m, bearing: 236.260423 deg, deltaT: 15.834273 s, approachRate: -48.919209 m/s, LOS rate: 3.027545 deg/s, posRepo size: 3
2021-08-13T02:37:02.066Z,1628822222.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.860001 m,
      bearing: 236.260423 deg,
      approachRate: -48.919209 m/s,
      LOS rate: 3.027545 deg/s,
      cmd update: 9.082636 deg/s,
      cmd heading: 254.484860 deg,
      new cmd heading: 256.095692 deg.

2021-08-13T02:37:04.454Z,1628822224.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:04.849Z,1628822224.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:04.850Z,1628822224.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:04.850Z,1628822224.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:04.851Z,1628822224.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:05.254Z,1628822225.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:05.254Z,1628822225.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:05.254Z,1628822225.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:05.256Z,1628822225.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:05.652Z,1628822225.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:06.061Z,1628822226.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,294,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:06.062Z,1628822226.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:06.494Z,1628822226.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023706.78*51

2021-08-13T02:37:06.552Z,1628822226.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.860001 m, bearing: 210.915914 deg, deltaT: 4.327523 s, approachRate: 0.000000 m/s, LOS rate: -5.856586 deg/s, posRepo size: 4
2021-08-13T02:37:06.554Z,1628822226.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.860001 m,
      bearing: 210.915914 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.856586 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.412419 deg,
      new cmd heading: 298.167045 deg.

2021-08-13T02:37:08.934Z,1628822228.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:09.285Z,1628822229.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:09.285Z,1628822229.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:09.285Z,1628822229.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:09.286Z,1628822229.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:09.689Z,1628822229.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
294,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:09.689Z,1628822229.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:09.689Z,1628822229.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:09.691Z,1628822229.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:10.109Z,1628822230.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:10.506Z,1628822230.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD6,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:10.506Z,1628822230.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:10.941Z,1628822230.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023711.21*5B

2021-08-13T02:37:11.005Z,1628822231.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.860001 m, bearing: 288.365368 deg, deltaT: 4.403787 s, approachRate: 0.000000 m/s, LOS rate: 17.587011 deg/s, posRepo size: 4
2021-08-13T02:37:11.005Z,1628822231.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.587011 deg/s. Setting heading cmd to target bearing of 288.365368deg and heading rate command to 0 deg/s.
2021-08-13T02:37:11.736Z,1628822231.736 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T02:37:13.351Z,1628822233.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:13.733Z,1628822233.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:13.733Z,1628822233.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:13.733Z,1628822233.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:13.734Z,1628822233.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:14.145Z,1628822234.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD6,000,00DE4,187,80,80,92,FF
2021-08-13T02:37:14.145Z,1628822234.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:14.145Z,1628822234.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:14.147Z,1628822234.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:14.541Z,1628822234.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:15.367Z,1628822235.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00DF8,189,80,80,9A,FF
2021-08-13T02:37:15.367Z,1628822235.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:15.371Z,1628822235.371 [Micromodem](INFO): Nmea in: $SNTTA,0.120067,,,,023715.67*41

2021-08-13T02:37:15.831Z,1628822235.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.059998 m, bearing: 338.594689 deg, deltaT: 4.890799 s, approachRate: 0.245358 m/s, LOS rate: 10.270167 deg/s, posRepo size: 4
2021-08-13T02:37:15.834Z,1628822235.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 338.594689 deg,
      approachRate: 0.245358 m/s,
      LOS rate: 10.270167 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 288.365368 deg,
      new cmd heading: 288.365368 deg.

2021-08-13T02:37:18.199Z,1628822238.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:18.583Z,1628822238.583 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:18.583Z,1628822238.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:18.583Z,1628822238.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:18.584Z,1628822238.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:18.981Z,1628822238.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00DF8,189,80,80,9A,FF
2021-08-13T02:37:18.981Z,1628822238.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:18.981Z,1628822238.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:18.983Z,1628822238.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:19.389Z,1628822239.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:19.826Z,1628822239.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:19.826Z,1628822239.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:19.830Z,1628822239.830 [Micromodem](INFO): Nmea in: $SNTTA,0.214534,0.214528,,,023720.50*52

2021-08-13T02:37:20.232Z,1628822240.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.400009 m, bearing: 298.641251 deg, deltaT: 4.499598 s, approachRate: -0.146677 m/s, LOS rate: -8.879335 deg/s, posRepo size: 4
2021-08-13T02:37:20.234Z,1628822240.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.400009 m,
      bearing: 298.641251 deg,
      approachRate: -0.146677 m/s,
      LOS rate: -8.879335 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.410238 deg,
      new cmd heading: 346.166658 deg.

2021-08-13T02:37:22.646Z,1628822242.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:23.021Z,1628822243.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:23.021Z,1628822243.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:23.021Z,1628822243.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:23.022Z,1628822243.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:23.437Z,1628822243.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:23.437Z,1628822243.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:23.437Z,1628822243.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:23.439Z,1628822243.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:23.833Z,1628822243.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:24.241Z,1628822244.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:24.242Z,1628822244.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:24.678Z,1628822244.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023724.96*51

2021-08-13T02:37:24.679Z,1628822244.679 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:37:24.704Z,1628822244.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.400009 m, bearing: 316.592491 deg, deltaT: 4.390159 s, approachRate: 0.000000 m/s, LOS rate: 4.088973 deg/s, posRepo size: 4
2021-08-13T02:37:24.706Z,1628822244.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.400009 m,
      bearing: 316.592491 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.088973 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 289.894709 deg,
      new cmd heading: 284.996033 deg.

2021-08-13T02:37:27.114Z,1628822247.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:27.477Z,1628822247.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:27.477Z,1628822247.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:27.477Z,1628822247.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:27.479Z,1628822247.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:27.870Z,1628822247.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:27.870Z,1628822247.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:27.870Z,1628822247.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:27.873Z,1628822247.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:28.289Z,1628822248.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:28.685Z,1628822248.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C19,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:28.686Z,1628822248.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:29.129Z,1628822249.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023729.39*59

2021-08-13T02:37:29.173Z,1628822249.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.400009 m, bearing: 355.144073 deg, deltaT: 4.399029 s, approachRate: 0.000000 m/s, LOS rate: 8.763657 deg/s, posRepo size: 4
2021-08-13T02:37:29.175Z,1628822249.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.400009 m,
      bearing: 355.144073 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.763657 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.832975 deg,
      new cmd heading: 348.422959 deg.

2021-08-13T02:37:31.587Z,1628822251.587 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T02:37:31.604Z,1628822251.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:31.913Z,1628822251.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:31.913Z,1628822251.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:31.913Z,1628822251.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:31.914Z,1628822251.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:32.322Z,1628822252.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C19,000,00DED,188,80,80,BA,FF
2021-08-13T02:37:32.323Z,1628822252.323 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:32.323Z,1628822252.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:32.325Z,1628822252.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:32.726Z,1628822252.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:33.577Z,1628822253.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023733.85*55

2021-08-13T02:37:34.367Z,1628822254.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:35.949Z,1628822255.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,BA,FF
2021-08-13T02:37:35.949Z,1628822255.949 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,BA,FF
2021-08-13T02:37:35.949Z,1628822255.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:37:37.204Z,1628822257.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:37.605Z,1628822257.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:37.605Z,1628822257.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:37.605Z,1628822257.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:37.606Z,1628822257.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:37.982Z,1628822257.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,BA,FF
2021-08-13T02:37:37.982Z,1628822257.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:37.982Z,1628822257.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:37.985Z,1628822257.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:38.386Z,1628822258.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:38.812Z,1628822258.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00D68,186,80,80,BA,FF
2021-08-13T02:37:38.813Z,1628822258.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:39.225Z,1628822259.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023739.51*56

2021-08-13T02:37:39.248Z,1628822259.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.419998 m, bearing: 5.733767 deg, deltaT: 10.161636 s, approachRate: -0.785308 m/s, LOS rate: 1.042126 deg/s, posRepo size: 4
2021-08-13T02:37:39.250Z,1628822259.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 5.733767 deg,
      approachRate: -0.785308 m/s,
      LOS rate: 1.042126 deg/s,
      cmd update: 3.126378 deg/s,
      cmd heading: 104.474386 deg,
      new cmd heading: 109.320610 deg.

2021-08-13T02:37:41.642Z,1628822261.642 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T02:37:41.658Z,1628822261.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:42.011Z,1628822262.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:42.011Z,1628822262.011 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:42.011Z,1628822262.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:42.013Z,1628822262.013 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:42.413Z,1628822262.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00D68,186,80,80,BA,FF
2021-08-13T02:37:42.413Z,1628822262.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:42.413Z,1628822262.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:42.415Z,1628822262.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:42.840Z,1628822262.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:43.221Z,1628822263.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00D38,186,80,80,BA,FF
2021-08-13T02:37:43.222Z,1628822263.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:43.675Z,1628822263.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023743.94*52

2021-08-13T02:37:43.779Z,1628822263.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.540009 m, bearing: 3.372316 deg, deltaT: 4.385596 s, approachRate: -0.656693 m/s, LOS rate: -0.538456 deg/s, posRepo size: 4
2021-08-13T02:37:43.785Z,1628822263.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.540009 m,
      bearing: 3.372316 deg,
      approachRate: -0.656693 m/s,
      LOS rate: -0.538456 deg/s,
      cmd update: -1.615368 deg/s,
      cmd heading: 118.227953 deg,
      new cmd heading: 119.903901 deg.

2021-08-13T02:37:46.120Z,1628822266.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:46.453Z,1628822266.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:46.453Z,1628822266.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:46.453Z,1628822266.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:46.454Z,1628822266.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:46.866Z,1628822266.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00D38,186,80,80,BA,FF
2021-08-13T02:37:46.866Z,1628822266.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:46.866Z,1628822266.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:46.869Z,1628822266.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:47.270Z,1628822267.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:47.682Z,1628822267.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00D0B,188,80,80,BA,FF
2021-08-13T02:37:47.682Z,1628822267.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:47.686Z,1628822267.686 [Micromodem](INFO): Nmea in: $SNTTA,0.111332,0.230195,,,023748.39*51

2021-08-13T02:37:48.127Z,1628822268.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.840012 m, bearing: 356.355804 deg, deltaT: 4.552353 s, approachRate: -0.593099 m/s, LOS rate: -1.541292 deg/s, posRepo size: 4
2021-08-13T02:37:48.129Z,1628822268.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.840012 m,
      bearing: 356.355804 deg,
      approachRate: -0.593099 m/s,
      LOS rate: -1.541292 deg/s,
      cmd update: -4.623877 deg/s,
      cmd heading: 110.862904 deg,
      new cmd heading: 110.341857 deg.

2021-08-13T02:37:50.515Z,1628822270.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:50.913Z,1628822270.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:50.913Z,1628822270.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:50.913Z,1628822270.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:50.914Z,1628822270.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:51.309Z,1628822271.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00D0B,188,80,80,BA,FF
2021-08-13T02:37:51.310Z,1628822271.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:51.310Z,1628822271.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:51.311Z,1628822271.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:51.713Z,1628822271.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:52.123Z,1628822272.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,00CE1,188,80,80,BA,FF
2021-08-13T02:37:52.123Z,1628822272.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:37:52.557Z,1628822272.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023752.84*53

2021-08-13T02:37:52.606Z,1628822272.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.320007 m, bearing: 354.399528 deg, deltaT: 4.361869 s, approachRate: -0.577735 m/s, LOS rate: -0.448495 deg/s, posRepo size: 4
2021-08-13T02:37:52.610Z,1628822272.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.320007 m,
      bearing: 354.399528 deg,
      approachRate: -0.577735 m/s,
      LOS rate: -0.448495 deg/s,
      cmd update: -1.345484 deg/s,
      cmd heading: 90.784389 deg,
      new cmd heading: 88.659066 deg.

2021-08-13T02:37:54.965Z,1628822274.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:55.345Z,1628822275.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:37:55.345Z,1628822275.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:37:55.346Z,1628822275.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:37:55.346Z,1628822275.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:37:55.772Z,1628822275.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,00CE1,188,80,80,BA,FF
2021-08-13T02:37:55.773Z,1628822275.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:37:55.774Z,1628822275.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:37:55.777Z,1628822275.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:37:56.169Z,1628822276.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:37:56.969Z,1628822276.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023757.30*59

2021-08-13T02:37:57.866Z,1628822277.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:37:59.381Z,1628822279.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,188,80,80,BA,FF
2021-08-13T02:37:59.382Z,1628822279.382 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,188,80,80,BA,FF
2021-08-13T02:37:59.382Z,1628822279.382 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:38:00.615Z,1628822280.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:01.009Z,1628822281.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:01.009Z,1628822281.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:01.009Z,1628822281.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:01.010Z,1628822281.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:01.405Z,1628822281.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,188,80,80,BA,FF
2021-08-13T02:38:01.405Z,1628822281.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:01.405Z,1628822281.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:01.407Z,1628822281.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:01.828Z,1628822281.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:01.861Z,1628822281.861 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:38:02.238Z,1628822282.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:02.239Z,1628822282.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:02.654Z,1628822282.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023802.93*5F

2021-08-13T02:38:02.669Z,1628822282.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 120.182998 deg, deltaT: 10.085722 s, approachRate: -0.273654 m/s, LOS rate: 12.471440 deg/s, posRepo size: 4
2021-08-13T02:38:02.670Z,1628822282.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.471440 deg/s. Setting heading cmd to target bearing of 120.182998deg and heading rate command to 0 deg/s.
2021-08-13T02:38:05.077Z,1628822285.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:05.449Z,1628822285.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:05.449Z,1628822285.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:05.449Z,1628822285.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:05.450Z,1628822285.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:05.858Z,1628822285.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:05.859Z,1628822285.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:05.859Z,1628822285.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:05.870Z,1628822285.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:06.258Z,1628822286.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:06.666Z,1628822286.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1D,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:06.666Z,1628822286.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:07.097Z,1628822287.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023807.39*5A

2021-08-13T02:38:07.123Z,1628822287.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 121.245748 deg, deltaT: 4.474179 s, approachRate: 0.000000 m/s, LOS rate: 0.237530 deg/s, posRepo size: 4
2021-08-13T02:38:07.145Z,1628822287.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 121.245748 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.237530 deg/s,
      cmd update: 0.712589 deg/s,
      cmd heading: 120.182998 deg,
      new cmd heading: 120.182998 deg.

2021-08-13T02:38:09.577Z,1628822289.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:09.901Z,1628822289.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:09.901Z,1628822289.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:09.902Z,1628822289.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:09.902Z,1628822289.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:10.313Z,1628822290.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1D,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:10.313Z,1628822290.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:10.313Z,1628822290.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:10.315Z,1628822290.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:10.709Z,1628822290.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:11.110Z,1628822291.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:11.110Z,1628822291.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:11.582Z,1628822291.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023811.84*5B

2021-08-13T02:38:11.635Z,1628822291.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.560013 m, bearing: 86.378377 deg, deltaT: 4.438314 s, approachRate: 0.000000 m/s, LOS rate: -7.855995 deg/s, posRepo size: 4
2021-08-13T02:38:11.637Z,1628822291.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 86.378377 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.855995 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 123.331342 deg,
      new cmd heading: 123.681389 deg.

2021-08-13T02:38:13.986Z,1628822293.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:14.337Z,1628822294.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:14.337Z,1628822294.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:14.337Z,1628822294.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:14.338Z,1628822294.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:14.761Z,1628822294.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00CB3,189,80,80,B3,FF
2021-08-13T02:38:14.761Z,1628822294.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:14.762Z,1628822294.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:14.768Z,1628822294.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:15.152Z,1628822295.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:15.598Z,1628822295.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,00CB1,189,80,80,BE,FF
2021-08-13T02:38:15.599Z,1628822295.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:15.976Z,1628822295.976 [Micromodem](INFO): Nmea in: $SNTTA,0.115429,,,,023816.29*4F

2021-08-13T02:38:16.019Z,1628822296.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.440002 m, bearing: 68.934313 deg, deltaT: 4.488812 s, approachRate: -0.026735 m/s, LOS rate: -3.886121 deg/s, posRepo size: 4
2021-08-13T02:38:16.021Z,1628822296.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.440002 m,
      bearing: 68.934313 deg,
      approachRate: -0.026735 m/s,
      LOS rate: -3.886121 deg/s,
      cmd update: -11.658362 deg/s,
      cmd heading: 69.418245 deg,
      new cmd heading: 64.835300 deg.

2021-08-13T02:38:18.410Z,1628822298.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:18.817Z,1628822298.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:18.817Z,1628822298.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:18.817Z,1628822298.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:18.818Z,1628822298.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:19.193Z,1628822299.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,00CB1,189,80,80,BE,FF
2021-08-13T02:38:19.193Z,1628822299.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:19.193Z,1628822299.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:19.195Z,1628822299.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:19.609Z,1628822299.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:19.998Z,1628822299.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,00CC4,189,80,80,BE,FF
2021-08-13T02:38:19.998Z,1628822299.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:20.433Z,1628822300.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023820.72*50

2021-08-13T02:38:20.475Z,1628822300.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.580002 m, bearing: 73.804620 deg, deltaT: 4.406568 s, approachRate: 0.258705 m/s, LOS rate: 1.105238 deg/s, posRepo size: 4
2021-08-13T02:38:20.483Z,1628822300.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.580002 m,
      bearing: 73.804620 deg,
      approachRate: 0.258705 m/s,
      LOS rate: 1.105238 deg/s,
      cmd update: 3.315715 deg/s,
      cmd heading: 18.180863 deg,
      new cmd heading: 13.004772 deg.

2021-08-13T02:38:22.864Z,1628822302.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:23.225Z,1628822303.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:23.225Z,1628822303.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:23.225Z,1628822303.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:23.226Z,1628822303.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:23.629Z,1628822303.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,00CC4,189,80,80,BE,FF
2021-08-13T02:38:23.629Z,1628822303.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:23.629Z,1628822303.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:23.631Z,1628822303.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:24.030Z,1628822304.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:24.867Z,1628822304.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023825.15*54

2021-08-13T02:38:25.707Z,1628822305.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:27.270Z,1628822307.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,BE,FF
2021-08-13T02:38:27.271Z,1628822307.271 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,BE,FF
2021-08-13T02:38:27.271Z,1628822307.271 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:38:28.507Z,1628822308.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:28.891Z,1628822308.891 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:28.891Z,1628822308.891 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:28.892Z,1628822308.892 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:28.893Z,1628822308.893 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:29.285Z,1628822309.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,BE,FF
2021-08-13T02:38:29.285Z,1628822309.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:29.285Z,1628822309.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:29.287Z,1628822309.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:29.701Z,1628822309.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:30.102Z,1628822310.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CC8,188,80,80,BE,FF
2021-08-13T02:38:30.102Z,1628822310.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:30.524Z,1628822310.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 7.875107 deg, deltaT: 10.059848 s, approachRate: 0.023856 m/s, LOS rate: -6.553729 deg/s, posRepo size: 4
2021-08-13T02:38:30.526Z,1628822310.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 7.875107 deg,
      approachRate: 0.023856 m/s,
      LOS rate: -6.553729 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 51.642179 deg,
      new cmd heading: 52.971496 deg.

2021-08-13T02:38:32.977Z,1628822312.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:33.325Z,1628822313.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:33.325Z,1628822313.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:33.325Z,1628822313.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:33.326Z,1628822313.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:33.750Z,1628822313.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CC8,188,80,80,BE,FF
2021-08-13T02:38:33.750Z,1628822313.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:33.750Z,1628822313.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:33.757Z,1628822313.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:34.144Z,1628822314.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:34.541Z,1628822314.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CC8,188,80,80,BE,FF
2021-08-13T02:38:34.542Z,1628822314.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:34.969Z,1628822314.969 [Micromodem](INFO): Nmea in: $SNTTA,0.104678,,,,023835.28*49

2021-08-13T02:38:35.015Z,1628822315.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.819992 m, bearing: 349.669376 deg, deltaT: 4.464150 s, approachRate: 0.000000 m/s, LOS rate: -4.078206 deg/s, posRepo size: 4
2021-08-13T02:38:35.022Z,1628822315.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 349.669376 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.078206 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 358.367421 deg,
      new cmd heading: 352.937469 deg.

2021-08-13T02:38:37.401Z,1628822317.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:37.792Z,1628822317.792 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:37.792Z,1628822317.792 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:37.793Z,1628822317.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:37.793Z,1628822317.793 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:38.177Z,1628822318.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CC8,188,80,80,BE,FF
2021-08-13T02:38:38.177Z,1628822318.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:38.177Z,1628822318.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:38.179Z,1628822318.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:38.589Z,1628822318.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:38.989Z,1628822318.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,00C97,189,80,80,BE,FF
2021-08-13T02:38:38.990Z,1628822318.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:39.437Z,1628822319.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023839.70*5A

2021-08-13T02:38:39.459Z,1628822319.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.880005 m, bearing: 354.205032 deg, deltaT: 4.469324 s, approachRate: -0.657815 m/s, LOS rate: 1.014841 deg/s, posRepo size: 4
2021-08-13T02:38:39.479Z,1628822319.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.880005 m,
      bearing: 354.205032 deg,
      approachRate: -0.657815 m/s,
      LOS rate: 1.014841 deg/s,
      cmd update: 3.044524 deg/s,
      cmd heading: 304.588004 deg,
      new cmd heading: 299.607452 deg.

2021-08-13T02:38:41.908Z,1628822321.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:42.221Z,1628822322.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:42.221Z,1628822322.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:42.221Z,1628822322.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:42.222Z,1628822322.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:42.618Z,1628822322.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,00C97,189,80,80,BE,FF
2021-08-13T02:38:42.618Z,1628822322.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:42.618Z,1628822322.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:42.620Z,1628822322.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:43.032Z,1628822323.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:43.430Z,1628822323.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,00C70,189,80,80,BE,FF
2021-08-13T02:38:43.430Z,1628822323.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:43.866Z,1628822323.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023844.14*52

2021-08-13T02:38:43.950Z,1628822323.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.540009 m, bearing: 345.961704 deg, deltaT: 4.413585 s, approachRate: -0.530180 m/s, LOS rate: -1.867717 deg/s, posRepo size: 4
2021-08-13T02:38:43.956Z,1628822323.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.540009 m,
      bearing: 345.961704 deg,
      approachRate: -0.530180 m/s,
      LOS rate: -1.867717 deg/s,
      cmd update: -5.603152 deg/s,
      cmd heading: 318.001639 deg,
      new cmd heading: 319.521566 deg.

2021-08-13T02:38:46.294Z,1628822326.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:46.661Z,1628822326.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:46.661Z,1628822326.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:46.661Z,1628822326.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:46.662Z,1628822326.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:47.077Z,1628822327.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,00C70,189,80,80,BE,FF
2021-08-13T02:38:47.077Z,1628822327.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:47.077Z,1628822327.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:47.079Z,1628822327.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:47.478Z,1628822327.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:47.890Z,1628822327.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00C42,186,80,80,AF,FF
2021-08-13T02:38:47.891Z,1628822327.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:48.317Z,1628822328.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023848.60*5D

2021-08-13T02:38:48.339Z,1628822328.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.780014 m, bearing: 349.636564 deg, deltaT: 4.496693 s, approachRate: -0.613783 m/s, LOS rate: 0.817236 deg/s, posRepo size: 4
2021-08-13T02:38:48.342Z,1628822328.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 349.636564 deg,
      approachRate: -0.613783 m/s,
      LOS rate: 0.817236 deg/s,
      cmd update: 2.451709 deg/s,
      cmd heading: 292.716740 deg,
      new cmd heading: 290.606660 deg.

2021-08-13T02:38:50.723Z,1628822330.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:51.119Z,1628822331.119 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:51.119Z,1628822331.119 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:51.119Z,1628822331.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:51.121Z,1628822331.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:51.557Z,1628822331.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00C42,186,80,80,AF,FF
2021-08-13T02:38:51.558Z,1628822331.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:51.558Z,1628822331.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:51.564Z,1628822331.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:51.965Z,1628822331.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:52.362Z,1628822332.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00C10,187,80,80,AF,FF
2021-08-13T02:38:52.362Z,1628822332.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:52.813Z,1628822332.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023853.09*58

2021-08-13T02:38:52.877Z,1628822332.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.779999 m, bearing: 347.689933 deg, deltaT: 4.452569 s, approachRate: -0.673772 m/s, LOS rate: -0.437193 deg/s, posRepo size: 4
2021-08-13T02:38:52.885Z,1628822332.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.779999 m,
      bearing: 347.689933 deg,
      approachRate: -0.673772 m/s,
      LOS rate: -0.437193 deg/s,
      cmd update: -1.311578 deg/s,
      cmd heading: 303.632352 deg,
      new cmd heading: 304.752604 deg.

2021-08-13T02:38:55.219Z,1628822335.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:38:55.617Z,1628822335.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:38:55.617Z,1628822335.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:38:55.617Z,1628822335.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:38:55.618Z,1628822335.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:38:56.005Z,1628822336.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00C10,187,80,80,AF,FF
2021-08-13T02:38:56.005Z,1628822336.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:38:56.005Z,1628822336.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:38:56.007Z,1628822336.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:38:56.400Z,1628822336.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:38:56.833Z,1628822336.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00BE2,188,80,80,BD,FF
2021-08-13T02:38:56.833Z,1628822336.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:38:57.245Z,1628822337.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023857.53*53

2021-08-13T02:38:57.284Z,1628822337.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.020004 m, bearing: 346.246905 deg, deltaT: 4.498806 s, approachRate: -0.613495 m/s, LOS rate: -0.320758 deg/s, posRepo size: 4
2021-08-13T02:38:57.286Z,1628822337.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.020004 m,
      bearing: 346.246905 deg,
      approachRate: -0.613495 m/s,
      LOS rate: -0.320758 deg/s,
      cmd update: -0.962274 deg/s,
      cmd heading: 297.726205 deg,
      new cmd heading: 297.246604 deg.

2021-08-13T02:38:57.445Z,1628822337.445 [CTD_Seabird](ERROR): Failed to parse device response: .09
2021-08-13T02:38:59.782Z,1628822339.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:00.050Z,1628822340.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:00.050Z,1628822340.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:00.050Z,1628822340.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:00.051Z,1628822340.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:00.448Z,1628822340.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00BE2,188,80,80,BD,FF
2021-08-13T02:39:00.449Z,1628822340.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:00.449Z,1628822340.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:00.450Z,1628822340.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:00.875Z,1628822340.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:01.250Z,1628822341.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C47,000,00BB9,189,80,80,BD,FF
2021-08-13T02:39:01.250Z,1628822341.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:01.723Z,1628822341.723 [Micromodem](INFO): Nmea in: $SNTTA,0.478562,0.478550,,,023901.97*58

2021-08-13T02:39:01.834Z,1628822341.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.559998 m, bearing: 351.225321 deg, deltaT: 4.379852 s, approachRate: -0.561664 m/s, LOS rate: 1.136663 deg/s, posRepo size: 4
2021-08-13T02:39:01.836Z,1628822341.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.559998 m,
      bearing: 351.225321 deg,
      approachRate: -0.561664 m/s,
      LOS rate: 1.136663 deg/s,
      cmd update: 3.409989 deg/s,
      cmd heading: 293.515273 deg,
      new cmd heading: 292.996191 deg.

2021-08-13T02:39:04.148Z,1628822344.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:04.489Z,1628822344.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:04.489Z,1628822344.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:04.489Z,1628822344.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:04.490Z,1628822344.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:04.883Z,1628822344.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C47,000,00BB9,189,80,80,BD,FF
2021-08-13T02:39:04.883Z,1628822344.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:04.883Z,1628822344.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:04.903Z,1628822344.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:05.293Z,1628822345.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:05.711Z,1628822345.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C79,000,00B97,18A,80,80,BD,FF
2021-08-13T02:39:05.711Z,1628822345.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:05.719Z,1628822345.719 [Micromodem](INFO): Nmea in: $SNTTA,0.115672,0.211769,,,023906.43*5B

2021-08-13T02:39:06.130Z,1628822346.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.520004 m, bearing: 347.031421 deg, deltaT: 4.564703 s, approachRate: -0.446906 m/s, LOS rate: -0.918767 deg/s, posRepo size: 4
2021-08-13T02:39:06.132Z,1628822346.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.520004 m,
      bearing: 347.031421 deg,
      approachRate: -0.446906 m/s,
      LOS rate: -0.918767 deg/s,
      cmd update: -2.756302 deg/s,
      cmd heading: 309.057058 deg,
      new cmd heading: 310.005612 deg.

2021-08-13T02:39:08.551Z,1628822348.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:08.925Z,1628822348.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:08.925Z,1628822348.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:08.925Z,1628822348.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:08.926Z,1628822348.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:09.331Z,1628822349.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C79,000,00B97,18A,80,80,BD,FF
2021-08-13T02:39:09.331Z,1628822349.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:09.331Z,1628822349.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:09.333Z,1628822349.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:09.754Z,1628822349.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:10.145Z,1628822350.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,178,000,00B6F,185,80,80,92,FF
2021-08-13T02:39:10.146Z,1628822350.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:10.596Z,1628822350.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.120010 m, bearing: 295.878522 deg, deltaT: 4.300103 s, approachRate: -0.558125 m/s, LOS rate: -11.895738 deg/s, posRepo size: 4
2021-08-13T02:39:10.597Z,1628822350.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.895738 deg/s. Setting heading cmd to target bearing of 295.878522deg and heading rate command to 0 deg/s.
2021-08-13T02:39:13.001Z,1628822353.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:13.365Z,1628822353.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:13.365Z,1628822353.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:13.365Z,1628822353.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:13.366Z,1628822353.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:13.789Z,1628822353.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
178,000,00B6F,185,80,80,92,FF
2021-08-13T02:39:13.789Z,1628822353.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:13.789Z,1628822353.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:13.791Z,1628822353.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:14.181Z,1628822354.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:14.586Z,1628822354.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C93,000,00B43,189,80,80,AB,FF
2021-08-13T02:39:14.586Z,1628822354.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:15.009Z,1628822355.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023915.31*50

2021-08-13T02:39:15.047Z,1628822355.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 350.299284 deg, deltaT: 4.470445 s, approachRate: -0.590549 m/s, LOS rate: 12.173456 deg/s, posRepo size: 4
2021-08-13T02:39:15.048Z,1628822355.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.173456 deg/s. Setting heading cmd to target bearing of 350.299284deg and heading rate command to 0 deg/s.
2021-08-13T02:39:17.439Z,1628822357.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:17.825Z,1628822357.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:17.825Z,1628822357.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:17.825Z,1628822357.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:17.826Z,1628822357.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:18.213Z,1628822358.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C93,000,00B43,189,80,80,AB,FF
2021-08-13T02:39:18.213Z,1628822358.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:18.213Z,1628822358.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:18.215Z,1628822358.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:18.628Z,1628822358.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:19.029Z,1628822359.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C74,000,00B20,189,80,80,D2,FF
2021-08-13T02:39:19.029Z,1628822359.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:19.466Z,1628822359.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023919.73*5A

2021-08-13T02:39:19.491Z,1628822359.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.380005 m, bearing: 348.492125 deg, deltaT: 4.451507 s, approachRate: -0.471748 m/s, LOS rate: -0.405966 deg/s, posRepo size: 4
2021-08-13T02:39:19.496Z,1628822359.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.380005 m,
      bearing: 348.492125 deg,
      approachRate: -0.471748 m/s,
      LOS rate: -0.405966 deg/s,
      cmd update: -1.217897 deg/s,
      cmd heading: 350.299284 deg,
      new cmd heading: 350.299284 deg.

2021-08-13T02:39:21.922Z,1628822361.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:22.257Z,1628822362.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:22.257Z,1628822362.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:22.258Z,1628822362.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:22.258Z,1628822362.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:22.654Z,1628822362.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C74,000,00B20,189,80,80,D2,FF
2021-08-13T02:39:22.654Z,1628822362.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:22.654Z,1628822362.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:22.655Z,1628822362.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:23.065Z,1628822363.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:23.474Z,1628822363.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,00AF6,186,80,80,A7,FF
2021-08-13T02:39:23.475Z,1628822363.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:23.905Z,1628822363.905 [Micromodem](INFO): Nmea in: $SNTTA,0.089462,,,,023924.18*46

2021-08-13T02:39:23.978Z,1628822363.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.860001 m, bearing: 295.890516 deg, deltaT: 4.482996 s, approachRate: -0.562125 m/s, LOS rate: -11.733584 deg/s, posRepo size: 4
2021-08-13T02:39:23.979Z,1628822363.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.733584 deg/s. Setting heading cmd to target bearing of 295.890516deg and heading rate command to 0 deg/s.
2021-08-13T02:39:26.455Z,1628822366.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:26.701Z,1628822366.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:26.701Z,1628822366.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:26.701Z,1628822366.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:26.702Z,1628822366.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:27.101Z,1628822367.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,00AF6,186,80,80,A7,FF
2021-08-13T02:39:27.101Z,1628822367.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:27.101Z,1628822367.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:27.103Z,1628822367.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:27.536Z,1628822367.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:27.925Z,1628822367.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00AC4,187,80,80,BA,FF
2021-08-13T02:39:27.925Z,1628822367.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:28.353Z,1628822368.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023928.63*59

2021-08-13T02:39:28.389Z,1628822368.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 349.466465 deg, deltaT: 4.409299 s, approachRate: -0.680380 m/s, LOS rate: 12.150673 deg/s, posRepo size: 4
2021-08-13T02:39:28.390Z,1628822368.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.150673 deg/s. Setting heading cmd to target bearing of 349.466465deg and heading rate command to 0 deg/s.
2021-08-13T02:39:30.796Z,1628822370.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:31.141Z,1628822371.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:31.141Z,1628822371.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:31.141Z,1628822371.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:31.142Z,1628822371.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:31.589Z,1628822371.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00AC4,187,80,80,BA,FF
2021-08-13T02:39:31.589Z,1628822371.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:31.589Z,1628822371.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:31.591Z,1628822371.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:32.041Z,1628822372.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:32.441Z,1628822372.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00A96,186,80,80,A1,FF
2021-08-13T02:39:32.441Z,1628822372.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:32.858Z,1628822372.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023933.12*55

2021-08-13T02:39:32.909Z,1628822372.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.100006 m, bearing: 351.372033 deg, deltaT: 4.481594 s, approachRate: -0.615851 m/s, LOS rate: 0.425199 deg/s, posRepo size: 4
2021-08-13T02:39:32.911Z,1628822372.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 351.372033 deg,
      approachRate: -0.615851 m/s,
      LOS rate: 0.425199 deg/s,
      cmd update: 1.275596 deg/s,
      cmd heading: 349.466465 deg,
      new cmd heading: 349.466465 deg.

2021-08-13T02:39:35.283Z,1628822375.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:35.673Z,1628822375.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:35.673Z,1628822375.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:35.673Z,1628822375.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:35.674Z,1628822375.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:36.069Z,1628822376.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00A96,186,80,80,A1,FF
2021-08-13T02:39:36.069Z,1628822376.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:36.069Z,1628822376.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:36.071Z,1628822376.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:36.485Z,1628822376.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:36.885Z,1628822376.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,00A69,189,80,80,A6,FF
2021-08-13T02:39:36.886Z,1628822376.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:37.325Z,1628822377.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023937.59*5E

2021-08-13T02:39:37.349Z,1628822377.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.400002 m, bearing: 357.159498 deg, deltaT: 4.492216 s, approachRate: -0.601041 m/s, LOS rate: 1.288332 deg/s, posRepo size: 4
2021-08-13T02:39:37.355Z,1628822377.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 357.159498 deg,
      approachRate: -0.601041 m/s,
      LOS rate: 1.288332 deg/s,
      cmd update: 3.864996 deg/s,
      cmd heading: 355.181793 deg,
      new cmd heading: 355.703547 deg.

2021-08-13T02:39:39.815Z,1628822379.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:40.109Z,1628822380.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:40.109Z,1628822380.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:40.109Z,1628822380.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:40.110Z,1628822380.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:40.513Z,1628822380.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,00A69,189,80,80,A6,FF
2021-08-13T02:39:40.513Z,1628822380.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:40.514Z,1628822380.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:40.515Z,1628822380.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:40.928Z,1628822380.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:41.783Z,1628822381.783 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023942.04*54

2021-08-13T02:39:42.550Z,1628822382.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:44.149Z,1628822384.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,A6,FF
2021-08-13T02:39:44.149Z,1628822384.149 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,A6,FF
2021-08-13T02:39:44.149Z,1628822384.149 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:39:45.387Z,1628822385.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:45.780Z,1628822385.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:45.781Z,1628822385.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:45.781Z,1628822385.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:45.783Z,1628822385.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:46.165Z,1628822386.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,A6,FF
2021-08-13T02:39:46.165Z,1628822386.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:46.166Z,1628822386.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:46.167Z,1628822386.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:46.576Z,1628822386.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:46.977Z,1628822386.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C0,000,009FA,186,80,80,B1,FF
2021-08-13T02:39:46.977Z,1628822386.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:47.422Z,1628822387.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023947.69*5A

2021-08-13T02:39:47.446Z,1628822387.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.739998 m, bearing: 348.252249 deg, deltaT: 10.079026 s, approachRate: -0.660779 m/s, LOS rate: -0.883741 deg/s, posRepo size: 4
2021-08-13T02:39:47.448Z,1628822387.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.739998 m,
      bearing: 348.252249 deg,
      approachRate: -0.660779 m/s,
      LOS rate: -0.883741 deg/s,
      cmd update: -2.651223 deg/s,
      cmd heading: 34.168292 deg,
      new cmd heading: 35.790311 deg.

2021-08-13T02:39:49.904Z,1628822389.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:50.209Z,1628822390.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:50.209Z,1628822390.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:50.209Z,1628822390.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:50.210Z,1628822390.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:50.621Z,1628822390.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C0,000,009FA,186,80,80,B1,FF
2021-08-13T02:39:50.622Z,1628822390.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:50.622Z,1628822390.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:50.623Z,1628822390.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:51.021Z,1628822391.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:51.429Z,1628822391.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,009CF,189,80,80,A6,FF
2021-08-13T02:39:51.430Z,1628822391.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:51.870Z,1628822391.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023952.15*55

2021-08-13T02:39:51.929Z,1628822391.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.160004 m, bearing: 344.736395 deg, deltaT: 4.417942 s, approachRate: -0.583981 m/s, LOS rate: -0.795813 deg/s, posRepo size: 4
2021-08-13T02:39:51.931Z,1628822391.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.160004 m,
      bearing: 344.736395 deg,
      approachRate: -0.583981 m/s,
      LOS rate: -0.795813 deg/s,
      cmd update: -2.387438 deg/s,
      cmd heading: 22.444826 deg,
      new cmd heading: 21.170107 deg.

2021-08-13T02:39:54.266Z,1628822394.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:54.653Z,1628822394.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:54.653Z,1628822394.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:54.653Z,1628822394.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:54.654Z,1628822394.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:55.068Z,1628822395.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,009CF,189,80,80,A6,FF
2021-08-13T02:39:55.068Z,1628822395.068 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:55.069Z,1628822395.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:55.070Z,1628822395.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:55.464Z,1628822395.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:39:55.870Z,1628822395.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,415,000,009AC,189,80,80,C3,FF
2021-08-13T02:39:55.870Z,1628822395.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:39:56.310Z,1628822396.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,023956.59*59

2021-08-13T02:39:56.332Z,1628822396.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.060005 m, bearing: 346.123333 deg, deltaT: 4.533423 s, approachRate: -0.463226 m/s, LOS rate: 0.305936 deg/s, posRepo size: 4
2021-08-13T02:39:56.334Z,1628822396.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 346.123333 deg,
      approachRate: -0.463226 m/s,
      LOS rate: 0.305936 deg/s,
      cmd update: 0.917809 deg/s,
      cmd heading: 11.643729 deg,
      new cmd heading: 10.785791 deg.

2021-08-13T02:39:58.736Z,1628822398.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:39:59.105Z,1628822399.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:39:59.105Z,1628822399.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:39:59.105Z,1628822399.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:39:59.106Z,1628822399.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:39:59.532Z,1628822399.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
415,000,009AC,189,80,80,C3,FF
2021-08-13T02:39:59.533Z,1628822399.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:39:59.534Z,1628822399.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:39:59.539Z,1628822399.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:39:59.921Z,1628822399.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:00.318Z,1628822400.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00986,189,80,80,8E,FF
2021-08-13T02:40:00.318Z,1628822400.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:00.770Z,1628822400.770 [Micromodem](INFO): Nmea in: $SNTTA,0.086929,,,,024001.06*4D

2021-08-13T02:40:00.820Z,1628822400.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 350.459301 deg, deltaT: 4.358079 s, approachRate: -0.523166 m/s, LOS rate: 0.994926 deg/s, posRepo size: 4
2021-08-13T02:40:00.822Z,1628822400.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 350.459301 deg,
      approachRate: -0.523166 m/s,
      LOS rate: 0.994926 deg/s,
      cmd update: 2.984779 deg/s,
      cmd heading: 15.651964 deg,
      new cmd heading: 16.092699 deg.

2021-08-13T02:40:03.180Z,1628822403.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:03.577Z,1628822403.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:03.577Z,1628822403.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:03.577Z,1628822403.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:03.578Z,1628822403.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:03.953Z,1628822403.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00986,189,80,80,8E,FF
2021-08-13T02:40:03.953Z,1628822403.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:03.954Z,1628822403.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:03.955Z,1628822403.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:04.353Z,1628822404.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:04.800Z,1628822404.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,00959,189,80,80,82,FF
2021-08-13T02:40:04.800Z,1628822404.800 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:04.813Z,1628822404.813 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:40:05.197Z,1628822405.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024005.48*51

2021-08-13T02:40:05.227Z,1628822405.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 340.090637 deg, deltaT: 4.488526 s, approachRate: -0.601535 m/s, LOS rate: -2.310038 deg/s, posRepo size: 4
2021-08-13T02:40:05.229Z,1628822405.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 340.090637 deg,
      approachRate: -0.601535 m/s,
      LOS rate: -2.310038 deg/s,
      cmd update: -6.930113 deg/s,
      cmd heading: 29.044373 deg,
      new cmd heading: 30.240631 deg.

2021-08-13T02:40:07.649Z,1628822407.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:07.997Z,1628822407.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:07.997Z,1628822407.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:07.997Z,1628822407.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:07.998Z,1628822407.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:08.401Z,1628822408.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,00959,189,80,80,82,FF
2021-08-13T02:40:08.401Z,1628822408.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:08.402Z,1628822408.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:08.403Z,1628822408.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:08.834Z,1628822408.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:09.201Z,1628822409.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,00930,189,80,80,CB,FF
2021-08-13T02:40:09.202Z,1628822409.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:09.649Z,1628822409.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024009.92*5A

2021-08-13T02:40:09.698Z,1628822409.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.620003 m, bearing: 341.126340 deg, deltaT: 4.390408 s, approachRate: -0.560312 m/s, LOS rate: 0.235901 deg/s, posRepo size: 4
2021-08-13T02:40:09.700Z,1628822409.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.620003 m,
      bearing: 341.126340 deg,
      approachRate: -0.560312 m/s,
      LOS rate: 0.235901 deg/s,
      cmd update: 0.707704 deg/s,
      cmd heading: 358.606803 deg,
      new cmd heading: 355.283967 deg.

2021-08-13T02:40:11.725Z,1628822411.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:12.025Z,1628822412.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:12.025Z,1628822412.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:12.025Z,1628822412.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:12.026Z,1628822412.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:12.433Z,1628822412.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,00930,189,80,80,CB,FF
2021-08-13T02:40:12.433Z,1628822412.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:12.433Z,1628822412.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:12.435Z,1628822412.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:12.855Z,1628822412.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:13.237Z,1628822413.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,00916,188,80,80,B7,FF
2021-08-13T02:40:13.237Z,1628822413.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:13.685Z,1628822413.685 [Micromodem](INFO): Nmea in: $SNTTA,,0.443925,,,024013.96*46

2021-08-13T02:40:13.727Z,1628822413.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.059998 m, bearing: 339.646948 deg, deltaT: 4.035515 s, approachRate: -0.386569 m/s, LOS rate: -0.366593 deg/s, posRepo size: 4
2021-08-13T02:40:13.755Z,1628822413.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.059998 m,
      bearing: 339.646948 deg,
      approachRate: -0.386569 m/s,
      LOS rate: -0.366593 deg/s,
      cmd update: -1.099779 deg/s,
      cmd heading: 1.462904 deg,
      new cmd heading: 1.797297 deg.

2021-08-13T02:40:15.786Z,1628822415.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:16.069Z,1628822416.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:16.069Z,1628822416.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:16.069Z,1628822416.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:16.070Z,1628822416.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:16.469Z,1628822416.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,00916,188,80,80,B7,FF
2021-08-13T02:40:16.469Z,1628822416.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:16.469Z,1628822416.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:16.471Z,1628822416.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:16.879Z,1628822416.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:17.277Z,1628822417.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,008E9,187,80,80,AC,FF
2021-08-13T02:40:17.278Z,1628822417.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:17.724Z,1628822417.724 [Micromodem](INFO): Nmea in: $SNTTA,0.086823,,,,024017.99*47

2021-08-13T02:40:17.832Z,1628822417.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.360008 m, bearing: 341.264883 deg, deltaT: 4.040280 s, approachRate: -0.668268 m/s, LOS rate: 0.400451 deg/s, posRepo size: 4
2021-08-13T02:40:17.834Z,1628822417.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 341.264883 deg,
      approachRate: -0.668268 m/s,
      LOS rate: 0.400451 deg/s,
      cmd update: 1.201354 deg/s,
      cmd heading: 357.019491 deg,
      new cmd heading: 356.428386 deg.

2021-08-13T02:40:19.807Z,1628822419.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:20.105Z,1628822420.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:20.105Z,1628822420.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:20.105Z,1628822420.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:20.106Z,1628822420.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:20.515Z,1628822420.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,008E9,187,80,80,AC,FF
2021-08-13T02:40:20.515Z,1628822420.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:20.515Z,1628822420.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:20.517Z,1628822420.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:20.924Z,1628822420.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:21.325Z,1628822421.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,008BB,185,80,80,9D,FF
2021-08-13T02:40:21.326Z,1628822421.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:21.750Z,1628822421.750 [Micromodem](INFO): Nmea in: $SNTTA,0.064243,0.385318,,,024022.04*5F

2021-08-13T02:40:21.863Z,1628822421.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 340.875945 deg, deltaT: 4.047883 s, approachRate: -0.681838 m/s, LOS rate: -0.096084 deg/s, posRepo size: 4
2021-08-13T02:40:21.870Z,1628822421.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 340.875945 deg,
      approachRate: -0.681838 m/s,
      LOS rate: -0.096084 deg/s,
      cmd update: -0.288253 deg/s,
      cmd heading: 1.882265 deg,
      new cmd heading: 2.506722 deg.

2021-08-13T02:40:23.861Z,1628822423.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:24.141Z,1628822424.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:24.141Z,1628822424.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:24.141Z,1628822424.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:24.142Z,1628822424.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:24.553Z,1628822424.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,008BB,185,80,80,9D,FF
2021-08-13T02:40:24.553Z,1628822424.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:24.554Z,1628822424.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:24.555Z,1628822424.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:24.957Z,1628822424.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:25.370Z,1628822425.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00892,187,80,80,A5,FF
2021-08-13T02:40:25.370Z,1628822425.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:25.797Z,1628822425.797 [Micromodem](INFO): Nmea in: $SNTTA,0.385452,0.385539,,,024026.08*58

2021-08-13T02:40:25.894Z,1628822425.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.140007 m, bearing: 338.856722 deg, deltaT: 4.044683 s, approachRate: -0.608206 m/s, LOS rate: -0.499229 deg/s, posRepo size: 4
2021-08-13T02:40:25.900Z,1628822425.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 338.856722 deg,
      approachRate: -0.608206 m/s,
      LOS rate: -0.499229 deg/s,
      cmd update: -1.497687 deg/s,
      cmd heading: 0.716351 deg,
      new cmd heading: 0.570149 deg.

2021-08-13T02:40:27.936Z,1628822427.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:28.185Z,1628822428.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:28.185Z,1628822428.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:28.185Z,1628822428.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:28.186Z,1628822428.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:28.601Z,1628822428.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00892,187,80,80,A5,FF
2021-08-13T02:40:28.601Z,1628822428.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:28.601Z,1628822428.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:28.603Z,1628822428.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:29.005Z,1628822429.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:29.417Z,1628822429.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,00864,186,80,80,6D,FF
2021-08-13T02:40:29.417Z,1628822429.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:29.859Z,1628822429.859 [Micromodem](INFO): Nmea in: $SNTTA,0.068883,,,,024030.13*4A

2021-08-13T02:40:29.930Z,1628822429.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 338.619633 deg, deltaT: 4.047180 s, approachRate: -0.681959 m/s, LOS rate: -0.058581 deg/s, posRepo size: 4
2021-08-13T02:40:29.934Z,1628822429.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 338.619633 deg,
      approachRate: -0.681959 m/s,
      LOS rate: -0.058581 deg/s,
      cmd update: -0.175744 deg/s,
      cmd heading: 354.655035 deg,
      new cmd heading: 353.917373 deg.

2021-08-13T02:40:31.947Z,1628822431.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:32.221Z,1628822432.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:32.221Z,1628822432.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:32.221Z,1628822432.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:32.222Z,1628822432.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:32.641Z,1628822432.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,00864,186,80,80,6D,FF
2021-08-13T02:40:32.642Z,1628822432.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:32.642Z,1628822432.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:32.645Z,1628822432.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:33.050Z,1628822433.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:33.438Z,1628822433.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,0083A,186,80,80,90,FF
2021-08-13T02:40:33.439Z,1628822433.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:33.866Z,1628822433.866 [Micromodem](INFO): Nmea in: $SNTTA,0.341642,0.340842,,,024034.16*57

2021-08-13T02:40:33.963Z,1628822433.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.860001 m, bearing: 338.408689 deg, deltaT: 4.092557 s, approachRate: -0.615751 m/s, LOS rate: -0.051543 deg/s, posRepo size: 4
2021-08-13T02:40:33.970Z,1628822433.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.860001 m,
      bearing: 338.408689 deg,
      approachRate: -0.615751 m/s,
      LOS rate: -0.051543 deg/s,
      cmd update: -0.154630 deg/s,
      cmd heading: 353.942454 deg,
      new cmd heading: 353.859047 deg.

2021-08-13T02:40:36.334Z,1628822436.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:36.701Z,1628822436.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:36.701Z,1628822436.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:36.701Z,1628822436.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:36.702Z,1628822436.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:37.085Z,1628822437.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,0083A,186,80,80,90,FF
2021-08-13T02:40:37.085Z,1628822437.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:37.085Z,1628822437.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:37.087Z,1628822437.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:37.506Z,1628822437.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:37.900Z,1628822437.900 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,0080A,185,80,80,A0,FF
2021-08-13T02:40:37.900Z,1628822437.900 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:38.326Z,1628822438.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024038.61*54

2021-08-13T02:40:38.367Z,1628822438.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 337.695617 deg, deltaT: 4.456270 s, approachRate: -0.646281 m/s, LOS rate: -0.160015 deg/s, posRepo size: 4
2021-08-13T02:40:38.373Z,1628822438.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.979996 m,
      bearing: 337.695617 deg,
      approachRate: -0.646281 m/s,
      LOS rate: -0.160015 deg/s,
      cmd update: -0.480046 deg/s,
      cmd heading: 353.248128 deg,
      new cmd heading: 353.188095 deg.

2021-08-13T02:40:40.801Z,1628822440.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:41.121Z,1628822441.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:41.121Z,1628822441.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:41.121Z,1628822441.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:41.122Z,1628822441.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:41.546Z,1628822441.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,0080A,185,80,80,A0,FF
2021-08-13T02:40:41.546Z,1628822441.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:41.547Z,1628822441.547 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:41.562Z,1628822441.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:41.980Z,1628822441.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:42.366Z,1628822442.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,007D6,186,80,80,B8,FF
2021-08-13T02:40:42.366Z,1628822442.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:42.825Z,1628822442.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024043.09*56

2021-08-13T02:40:42.886Z,1628822442.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.859993 m, bearing: 336.320946 deg, deltaT: 4.439813 s, approachRate: -0.702733 m/s, LOS rate: -0.309624 deg/s, posRepo size: 4
2021-08-13T02:40:42.895Z,1628822442.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.859993 m,
      bearing: 336.320946 deg,
      approachRate: -0.702733 m/s,
      LOS rate: -0.309624 deg/s,
      cmd update: -0.928871 deg/s,
      cmd heading: 351.116823 deg,
      new cmd heading: 350.892273 deg.

2021-08-13T02:40:45.223Z,1628822445.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:45.610Z,1628822445.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:45.610Z,1628822445.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:45.611Z,1628822445.611 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:45.611Z,1628822445.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:46.001Z,1628822446.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,007D6,186,80,80,B8,FF
2021-08-13T02:40:46.001Z,1628822446.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:46.001Z,1628822446.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:46.003Z,1628822446.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:46.405Z,1628822446.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:46.821Z,1628822446.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,007A4,185,80,80,A6,FF
2021-08-13T02:40:46.822Z,1628822446.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:47.246Z,1628822447.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024047.53*5D

2021-08-13T02:40:47.299Z,1628822447.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 335.075912 deg, deltaT: 4.460342 s, approachRate: -0.672592 m/s, LOS rate: -0.279134 deg/s, posRepo size: 4
2021-08-13T02:40:47.305Z,1628822447.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.860001 m,
      bearing: 335.075912 deg,
      approachRate: -0.672592 m/s,
      LOS rate: -0.279134 deg/s,
      cmd update: -0.837403 deg/s,
      cmd heading: 347.001717 deg,
      new cmd heading: 346.583810 deg.

2021-08-13T02:40:49.723Z,1628822449.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:50.037Z,1628822450.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:50.037Z,1628822450.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:50.037Z,1628822450.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:50.038Z,1628822450.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:50.449Z,1628822450.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,007A4,185,80,80,A6,FF
2021-08-13T02:40:50.450Z,1628822450.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:50.450Z,1628822450.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:50.452Z,1628822450.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:50.850Z,1628822450.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:51.257Z,1628822451.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00775,186,80,80,9D,FF
2021-08-13T02:40:51.257Z,1628822451.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:51.694Z,1628822451.694 [Micromodem](INFO): Nmea in: $SNTTA,,0.436597,,,024051.97*46

2021-08-13T02:40:51.821Z,1628822451.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.040009 m, bearing: 336.201035 deg, deltaT: 4.391176 s, approachRate: -0.642195 m/s, LOS rate: 0.256224 deg/s, posRepo size: 4
2021-08-13T02:40:51.823Z,1628822451.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.040009 m,
      bearing: 336.201035 deg,
      approachRate: -0.642195 m/s,
      LOS rate: 0.256224 deg/s,
      cmd update: 0.768671 deg/s,
      cmd heading: 343.295911 deg,
      new cmd heading: 342.837643 deg.

2021-08-13T02:40:53.795Z,1628822453.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:54.077Z,1628822454.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:54.077Z,1628822454.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:54.077Z,1628822454.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:54.078Z,1628822454.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:54.485Z,1628822454.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00775,186,80,80,9D,FF
2021-08-13T02:40:54.486Z,1628822454.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:54.486Z,1628822454.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:54.487Z,1628822454.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:54.900Z,1628822454.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:55.297Z,1628822455.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,00748,186,80,80,75,FF
2021-08-13T02:40:55.298Z,1628822455.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:55.725Z,1628822455.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024056.01*5A

2021-08-13T02:40:55.818Z,1628822455.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 335.627382 deg, deltaT: 4.040718 s, approachRate: -0.668199 m/s, LOS rate: -0.141968 deg/s, posRepo size: 4
2021-08-13T02:40:55.820Z,1628822455.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.340004 m,
      bearing: 335.627382 deg,
      approachRate: -0.668199 m/s,
      LOS rate: -0.141968 deg/s,
      cmd update: -0.425905 deg/s,
      cmd heading: 346.401839 deg,
      new cmd heading: 346.788348 deg.

2021-08-13T02:40:57.867Z,1628822457.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:40:58.117Z,1628822458.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:40:58.117Z,1628822458.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:40:58.117Z,1628822458.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:40:58.118Z,1628822458.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:40:58.521Z,1628822458.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,00748,186,80,80,75,FF
2021-08-13T02:40:58.521Z,1628822458.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:40:58.521Z,1628822458.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:40:58.523Z,1628822458.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:40:58.941Z,1628822458.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:40:59.330Z,1628822459.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,104,000,0071B,186,80,80,B0,FF
2021-08-13T02:40:59.330Z,1628822459.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:40:59.774Z,1628822459.774 [Micromodem](INFO): Nmea in: $SNTTA,0.071015,0.403134,,,024100.04*5E

2021-08-13T02:40:59.841Z,1628822459.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.640007 m, bearing: 333.934260 deg, deltaT: 4.055758 s, approachRate: -0.665719 m/s, LOS rate: -0.417461 deg/s, posRepo size: 4
2021-08-13T02:40:59.843Z,1628822459.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 333.934260 deg,
      approachRate: -0.665719 m/s,
      LOS rate: -0.417461 deg/s,
      cmd update: -1.252384 deg/s,
      cmd heading: 344.676186 deg,
      new cmd heading: 344.473930 deg.

2021-08-13T02:41:02.199Z,1628822462.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:02.557Z,1628822462.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:02.557Z,1628822462.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:02.557Z,1628822462.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:02.558Z,1628822462.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:02.965Z,1628822462.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
104,000,0071B,186,80,80,B0,FF
2021-08-13T02:41:02.965Z,1628822462.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:02.966Z,1628822462.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:02.967Z,1628822462.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:03.373Z,1628822463.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:03.787Z,1628822463.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,006ED,186,80,80,85,FF
2021-08-13T02:41:03.787Z,1628822463.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:04.209Z,1628822464.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024104.49*50

2021-08-13T02:41:04.240Z,1628822464.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.879997 m, bearing: 332.082158 deg, deltaT: 4.510779 s, approachRate: -0.611870 m/s, LOS rate: -0.410595 deg/s, posRepo size: 4
2021-08-13T02:41:04.242Z,1628822464.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.879997 m,
      bearing: 332.082158 deg,
      approachRate: -0.611870 m/s,
      LOS rate: -0.410595 deg/s,
      cmd update: -1.231784 deg/s,
      cmd heading: 339.025391 deg,
      new cmd heading: 338.573279 deg.

2021-08-13T02:41:06.619Z,1628822466.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:07.017Z,1628822467.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:07.017Z,1628822467.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:07.017Z,1628822467.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:07.018Z,1628822467.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:07.409Z,1628822467.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,006ED,186,80,80,85,FF
2021-08-13T02:41:07.409Z,1628822467.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:07.409Z,1628822467.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:07.411Z,1628822467.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:07.824Z,1628822467.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:08.221Z,1628822468.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,006BE,186,80,80,AF,FF
2021-08-13T02:41:08.222Z,1628822468.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:08.661Z,1628822468.661 [Micromodem](INFO): Nmea in: $SNTTA,,0.043606,,,024108.93*42

2021-08-13T02:41:08.701Z,1628822468.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 333.868061 deg, deltaT: 4.386079 s, approachRate: -0.642941 m/s, LOS rate: 0.407175 deg/s, posRepo size: 4
2021-08-13T02:41:08.703Z,1628822468.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 333.868061 deg,
      approachRate: -0.642941 m/s,
      LOS rate: 0.407175 deg/s,
      cmd update: 1.221526 deg/s,
      cmd heading: 333.624194 deg,
      new cmd heading: 333.086069 deg.

2021-08-13T02:41:11.091Z,1628822471.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:11.449Z,1628822471.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:11.449Z,1628822471.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:11.449Z,1628822471.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:11.450Z,1628822471.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:11.862Z,1628822471.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,006BE,186,80,80,AF,FF
2021-08-13T02:41:11.862Z,1628822471.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:11.862Z,1628822471.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:11.865Z,1628822471.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:12.260Z,1628822472.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:12.665Z,1628822472.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,0068C,184,80,80,B2,FF
2021-08-13T02:41:12.665Z,1628822472.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:13.101Z,1628822473.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024113.39*51

2021-08-13T02:41:13.138Z,1628822473.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.059998 m, bearing: 332.909158 deg, deltaT: 4.419412 s, approachRate: -0.678825 m/s, LOS rate: -0.216975 deg/s, posRepo size: 4
2021-08-13T02:41:13.140Z,1628822473.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 332.909158 deg,
      approachRate: -0.678825 m/s,
      LOS rate: -0.216975 deg/s,
      cmd update: -0.650926 deg/s,
      cmd heading: 339.027520 deg,
      new cmd heading: 339.578643 deg.

2021-08-13T02:41:15.554Z,1628822475.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:15.905Z,1628822475.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:15.905Z,1628822475.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:15.906Z,1628822475.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:15.907Z,1628822475.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:16.297Z,1628822476.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,0068C,184,80,80,B2,FF
2021-08-13T02:41:16.297Z,1628822476.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:16.297Z,1628822476.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:16.299Z,1628822476.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:16.731Z,1628822476.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:17.125Z,1628822477.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0065B,186,80,80,87,FF
2021-08-13T02:41:17.125Z,1628822477.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:17.573Z,1628822477.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024117.82*55

2021-08-13T02:41:17.618Z,1628822477.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 331.152815 deg, deltaT: 4.464483 s, approachRate: -0.658529 m/s, LOS rate: -0.393403 deg/s, posRepo size: 4
2021-08-13T02:41:17.621Z,1628822477.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 331.152815 deg,
      approachRate: -0.658529 m/s,
      LOS rate: -0.393403 deg/s,
      cmd update: -1.180210 deg/s,
      cmd heading: 336.121450 deg,
      new cmd heading: 335.817527 deg.

2021-08-13T02:41:19.985Z,1628822479.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:20.337Z,1628822480.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:20.337Z,1628822480.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:20.338Z,1628822480.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:20.339Z,1628822480.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:20.809Z,1628822480.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0065B,186,80,80,87,FF
2021-08-13T02:41:20.809Z,1628822480.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:20.809Z,1628822480.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:20.811Z,1628822480.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:21.148Z,1628822481.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:21.596Z,1628822481.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00625,186,80,80,83,FF
2021-08-13T02:41:21.597Z,1628822481.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:22.051Z,1628822482.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 330.210714 deg, deltaT: 4.483625 s, approachRate: -0.722632 m/s, LOS rate: -0.210121 deg/s, posRepo size: 4
2021-08-13T02:41:22.057Z,1628822482.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.879997 m,
      bearing: 330.210714 deg,
      approachRate: -0.722632 m/s,
      LOS rate: -0.210121 deg/s,
      cmd update: -0.630362 deg/s,
      cmd heading: 330.831775 deg,
      new cmd heading: 330.338651 deg.

2021-08-13T02:41:22.374Z,1628822482.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024122.33*59

2021-08-13T02:41:24.395Z,1628822484.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:24.809Z,1628822484.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:24.809Z,1628822484.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:24.809Z,1628822484.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:24.810Z,1628822484.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:25.185Z,1628822485.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00625,186,80,80,83,FF
2021-08-13T02:41:25.185Z,1628822485.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:25.185Z,1628822485.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:25.187Z,1628822485.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:25.609Z,1628822485.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:25.998Z,1628822485.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,005F7,184,80,80,78,FF
2021-08-13T02:41:25.998Z,1628822485.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:26.433Z,1628822486.433 [Micromodem](INFO): Nmea in: $SNTTA,0.046953,,,,024126.71*48

2021-08-13T02:41:26.452Z,1628822486.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.120003 m, bearing: 330.565911 deg, deltaT: 4.390232 s, approachRate: -0.628667 m/s, LOS rate: 0.080906 deg/s, posRepo size: 4
2021-08-13T02:41:26.454Z,1628822486.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 330.565911 deg,
      approachRate: -0.628667 m/s,
      LOS rate: 0.080906 deg/s,
      cmd update: 0.242719 deg/s,
      cmd heading: 328.063564 deg,
      new cmd heading: 327.794363 deg.

2021-08-13T02:41:28.882Z,1628822488.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:29.225Z,1628822489.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:29.225Z,1628822489.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:29.225Z,1628822489.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:29.226Z,1628822489.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:29.638Z,1628822489.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,005F7,184,80,80,78,FF
2021-08-13T02:41:29.638Z,1628822489.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:29.638Z,1628822489.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:29.640Z,1628822489.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:30.062Z,1628822490.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:30.453Z,1628822490.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,005C6,183,80,80,B7,FF
2021-08-13T02:41:30.453Z,1628822490.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:30.891Z,1628822490.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024131.16*5C

2021-08-13T02:41:30.918Z,1628822490.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 329.002426 deg, deltaT: 4.477235 s, approachRate: -0.656656 m/s, LOS rate: -0.349208 deg/s, posRepo size: 4
2021-08-13T02:41:30.920Z,1628822490.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.180000 m,
      bearing: 329.002426 deg,
      approachRate: -0.656656 m/s,
      LOS rate: -0.349208 deg/s,
      cmd update: -1.047623 deg/s,
      cmd heading: 329.149392 deg,
      new cmd heading: 329.251182 deg.

2021-08-13T02:41:32.086Z,1628822492.086 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:41:33.310Z,1628822493.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:33.685Z,1628822493.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:33.685Z,1628822493.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:33.685Z,1628822493.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:33.686Z,1628822493.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:34.089Z,1628822494.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,005C6,183,80,80,B7,FF
2021-08-13T02:41:34.089Z,1628822494.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:34.089Z,1628822494.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:34.091Z,1628822494.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:34.497Z,1628822494.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:34.905Z,1628822494.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00594,183,80,80,87,FF
2021-08-13T02:41:34.905Z,1628822494.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:35.333Z,1628822495.333 [Micromodem](INFO): Nmea in: $SNTTA,0.279767,,,,024135.61*4C

2021-08-13T02:41:35.364Z,1628822495.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 328.104283 deg, deltaT: 4.461799 s, approachRate: -0.672375 m/s, LOS rate: -0.201296 deg/s, posRepo size: 4
2021-08-13T02:41:35.366Z,1628822495.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 328.104283 deg,
      approachRate: -0.672375 m/s,
      LOS rate: -0.201296 deg/s,
      cmd update: -0.603888 deg/s,
      cmd heading: 324.475112 deg,
      new cmd heading: 324.052469 deg.

2021-08-13T02:41:36.943Z,1628822496.943 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:41:37.830Z,1628822497.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:38.132Z,1628822498.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:38.132Z,1628822498.132 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:38.132Z,1628822498.132 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:38.133Z,1628822498.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:38.538Z,1628822498.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00594,183,80,80,87,FF
2021-08-13T02:41:38.538Z,1628822498.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:38.538Z,1628822498.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:38.540Z,1628822498.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:38.945Z,1628822498.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:39.346Z,1628822499.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00563,184,80,80,8D,FF
2021-08-13T02:41:39.346Z,1628822499.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:39.797Z,1628822499.797 [Micromodem](INFO): Nmea in: $SNTTA,0.046566,,,,024140.06*42

2021-08-13T02:41:39.891Z,1628822499.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 328.496637 deg, deltaT: 4.398977 s, approachRate: -0.668336 m/s, LOS rate: 0.089192 deg/s, posRepo size: 4
2021-08-13T02:41:39.897Z,1628822499.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.240002 m,
      bearing: 328.496637 deg,
      approachRate: -0.668336 m/s,
      LOS rate: 0.089192 deg/s,
      cmd update: 0.267576 deg/s,
      cmd heading: 321.816181 deg,
      new cmd heading: 321.497732 deg.

2021-08-13T02:41:41.918Z,1628822501.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:42.166Z,1628822502.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:42.166Z,1628822502.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:42.167Z,1628822502.167 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:42.168Z,1628822502.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:42.579Z,1628822502.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00563,184,80,80,8D,FF
2021-08-13T02:41:42.579Z,1628822502.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:42.580Z,1628822502.580 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:42.582Z,1628822502.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:42.976Z,1628822502.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:43.381Z,1628822503.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00535,185,80,80,AD,FF
2021-08-13T02:41:43.381Z,1628822503.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:43.830Z,1628822503.830 [Micromodem](INFO): Nmea in: $SNTTA,0.371338,0.370513,,,024144.11*57

2021-08-13T02:41:43.912Z,1628822503.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.480003 m, bearing: 326.961238 deg, deltaT: 4.035043 s, approachRate: -0.684007 m/s, LOS rate: -0.380516 deg/s, posRepo size: 4
2021-08-13T02:41:43.914Z,1628822503.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.480003 m,
      bearing: 326.961238 deg,
      approachRate: -0.684007 m/s,
      LOS rate: -0.380516 deg/s,
      cmd update: -1.141549 deg/s,
      cmd heading: 322.895834 deg,
      new cmd heading: 323.033253 deg.

2021-08-13T02:41:46.413Z,1628822506.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:46.696Z,1628822506.696 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:46.696Z,1628822506.696 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:46.697Z,1628822506.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:46.698Z,1628822506.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:47.078Z,1628822507.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00535,185,80,80,AD,FF
2021-08-13T02:41:47.078Z,1628822507.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:47.078Z,1628822507.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:47.079Z,1628822507.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:47.506Z,1628822507.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:47.565Z,1628822507.565 [Micromodem](INFO): Nmea in: 64,,,024148.60*51

2021-08-13T02:41:47.565Z,1628822507.565 [Micromodem](ERROR): Response from modem failed NMEA checksum: 64,,,024148.60*51
 expected 0
2021-08-13T02:41:47.893Z,1628822507.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00505,184,80,80,7D,FF
2021-08-13T02:41:47.893Z,1628822507.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:47.903Z,1628822507.903 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:41:48.341Z,1628822508.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 326.739721 deg, deltaT: 4.551510 s, approachRate: -0.632758 m/s, LOS rate: -0.048669 deg/s, posRepo size: 4
2021-08-13T02:41:48.342Z,1628822508.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.60 m.
2021-08-13T02:41:48.344Z,1628822508.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.599998 m,
      bearing: 326.739721 deg,
      approachRate: -0.632758 m/s,
      LOS rate: -0.048669 deg/s,
      cmd update: -0.146007 deg/s,
      cmd heading: 317.704570 deg,
      new cmd heading: 317.253014 deg.

2021-08-13T02:41:48.760Z,1628822508.760 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:41:48.812Z,1628822508.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:41:48.812Z,1628822508.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:41:48.812Z,1628822508.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:41:48.813Z,1628822508.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:41:48.813Z,1628822508.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:41:48.813Z,1628822508.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:41:49.157Z,1628822509.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:41:49.157Z,1628822509.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:41:49.157Z,1628822509.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:41:49.157Z,1628822509.157 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:41:50.809Z,1628822510.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:51.117Z,1628822511.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:51.117Z,1628822511.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:51.117Z,1628822511.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:51.118Z,1628822511.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:51.548Z,1628822511.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00505,184,80,80,7D,FF
2021-08-13T02:41:51.549Z,1628822511.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:51.549Z,1628822511.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:51.559Z,1628822511.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:51.957Z,1628822511.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:51.974Z,1628822511.974 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:41:52.362Z,1628822512.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,004D5,187,80,80,9C,FF
2021-08-13T02:41:52.362Z,1628822512.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:52.385Z,1628822512.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:41:52.801Z,1628822512.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024153.09*56

2021-08-13T02:41:52.841Z,1628822512.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 328.743972 deg, deltaT: 4.432245 s, approachRate: -0.649784 m/s, LOS rate: 0.452198 deg/s, posRepo size: 4
2021-08-13T02:41:52.842Z,1628822512.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m.
2021-08-13T02:41:52.849Z,1628822512.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.719997 m,
      bearing: 328.743972 deg,
      approachRate: -0.649784 m/s,
      LOS rate: 0.452198 deg/s,
      cmd update: 1.356593 deg/s,
      cmd heading: 317.057029 deg,
      new cmd heading: 316.989775 deg.

2021-08-13T02:41:55.200Z,1628822515.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:41:55.621Z,1628822515.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:41:55.622Z,1628822515.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:41:55.622Z,1628822515.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:41:55.623Z,1628822515.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:41:55.989Z,1628822515.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,004D5,187,80,80,9C,FF
2021-08-13T02:41:55.989Z,1628822515.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:41:55.989Z,1628822515.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:41:55.991Z,1628822515.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:41:56.396Z,1628822516.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:41:56.834Z,1628822516.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,004A6,186,80,80,94,FF
2021-08-13T02:41:56.834Z,1628822516.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:41:56.870Z,1628822516.870 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T02:41:56.913Z,1628822516.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:41:57.253Z,1628822517.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024157.51*5F

2021-08-13T02:41:57.293Z,1628822517.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 330.119954 deg, deltaT: 4.528186 s, approachRate: -0.622765 m/s, LOS rate: 0.303871 deg/s, posRepo size: 4
2021-08-13T02:41:57.293Z,1628822517.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.90 m.
2021-08-13T02:41:57.295Z,1628822517.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.900002 m,
      bearing: 330.119954 deg,
      approachRate: -0.622765 m/s,
      LOS rate: 0.303871 deg/s,
      cmd update: 0.911612 deg/s,
      cmd heading: 323.195504 deg,
      new cmd heading: 323.720531 deg.

2021-08-13T02:41:59.721Z,1628822519.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:00.022Z,1628822520.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:00.022Z,1628822520.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:00.023Z,1628822520.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:00.023Z,1628822520.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:00.437Z,1628822520.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,004A6,186,80,80,94,FF
2021-08-13T02:42:00.437Z,1628822520.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:00.437Z,1628822520.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:00.439Z,1628822520.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:00.845Z,1628822520.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:01.261Z,1628822521.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,0047B,184,80,80,7B,FF
2021-08-13T02:42:01.262Z,1628822521.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:01.284Z,1628822521.284 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:01.705Z,1628822521.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024201.96*54

2021-08-13T02:42:01.813Z,1628822521.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 323.678976 deg, deltaT: 4.371418 s, approachRate: -0.590198 m/s, LOS rate: -1.473430 deg/s, posRepo size: 4
2021-08-13T02:42:01.813Z,1628822521.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.32 m.
2021-08-13T02:42:01.814Z,1628822521.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 31.32 m.
2021-08-13T02:42:01.814Z,1628822521.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T02:42:01.828Z,1628822521.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 323.678976 deg,
      approachRate: -0.590198 m/s,
      LOS rate: -1.473430 deg/s,
      cmd update: -4.420290 deg/s,
      cmd heading: 327.184086 deg,
      new cmd heading: 327.668347 deg.

2021-08-13T02:42:04.112Z,1628822524.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:04.481Z,1628822524.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:04.481Z,1628822524.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:04.481Z,1628822524.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:04.482Z,1628822524.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:04.885Z,1628822524.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,0047B,184,80,80,7B,FF
2021-08-13T02:42:04.885Z,1628822524.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:04.886Z,1628822524.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:04.887Z,1628822524.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:05.306Z,1628822525.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:05.685Z,1628822525.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00455,183,80,80,8D,FF
2021-08-13T02:42:05.686Z,1628822525.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:05.818Z,1628822525.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:06.137Z,1628822526.137 [Micromodem](INFO): Nmea in: $SNTTA,0.044213,,,,024206.41*47

2021-08-13T02:42:06.163Z,1628822526.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 325.563234 deg, deltaT: 4.533660 s, approachRate: -0.502905 m/s, LOS rate: 0.415615 deg/s, posRepo size: 4
2021-08-13T02:42:06.185Z,1628822526.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.040001 m,
      bearing: 325.563234 deg,
      approachRate: -0.502905 m/s,
      LOS rate: 0.415615 deg/s,
      cmd update: 1.246846 deg/s,
      cmd heading: 307.216869 deg,
      new cmd heading: 305.605837 deg.

2021-08-13T02:42:06.929Z,1628822526.929 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:42:08.544Z,1628822528.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:08.925Z,1628822528.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:08.925Z,1628822528.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:08.925Z,1628822528.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:08.926Z,1628822528.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:09.338Z,1628822529.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00455,183,80,80,8D,FF
2021-08-13T02:42:09.338Z,1628822529.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:09.338Z,1628822529.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:09.341Z,1628822529.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:09.728Z,1628822529.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:10.144Z,1628822530.144 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,0041F,186,80,80,6B,FF
2021-08-13T02:42:10.144Z,1628822530.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:10.169Z,1628822530.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:10.565Z,1628822530.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024210.86*55

2021-08-13T02:42:10.587Z,1628822530.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 334.114085 deg, deltaT: 4.351166 s, approachRate: -0.744629 m/s, LOS rate: 1.965186 deg/s, posRepo size: 4
2021-08-13T02:42:10.613Z,1628822530.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 334.114085 deg,
      approachRate: -0.744629 m/s,
      LOS rate: 1.965186 deg/s,
      cmd update: 5.895558 deg/s,
      cmd heading: 312.663080 deg,
      new cmd heading: 313.188164 deg.

2021-08-13T02:42:12.995Z,1628822532.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:13.366Z,1628822533.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:13.366Z,1628822533.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:13.367Z,1628822533.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:13.367Z,1628822533.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:13.792Z,1628822533.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,0041F,186,80,80,6B,FF
2021-08-13T02:42:13.792Z,1628822533.792 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:13.793Z,1628822533.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:13.794Z,1628822533.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:14.186Z,1628822534.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:14.573Z,1628822534.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,003FF,187,80,80,87,FF
2021-08-13T02:42:14.573Z,1628822534.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:14.652Z,1628822534.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:15.007Z,1628822535.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024215.32*5F

2021-08-13T02:42:15.058Z,1628822535.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 328.690204 deg, deltaT: 4.482919 s, approachRate: -0.428292 m/s, LOS rate: -1.209899 deg/s, posRepo size: 4
2021-08-13T02:42:15.060Z,1628822535.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 328.690204 deg,
      approachRate: -0.428292 m/s,
      LOS rate: -1.209899 deg/s,
      cmd update: -3.629698 deg/s,
      cmd heading: 339.067463 deg,
      new cmd heading: 341.502104 deg.

2021-08-13T02:42:17.460Z,1628822537.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:17.817Z,1628822537.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:17.817Z,1628822537.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:17.817Z,1628822537.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:17.818Z,1628822537.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:18.205Z,1628822538.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,003FF,187,80,80,87,FF
2021-08-13T02:42:18.205Z,1628822538.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:18.205Z,1628822538.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:18.207Z,1628822538.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:18.613Z,1628822538.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:19.018Z,1628822539.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,003CB,184,80,80,5D,FF
2021-08-13T02:42:19.018Z,1628822539.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:19.110Z,1628822539.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:19.459Z,1628822539.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024219.73*56

2021-08-13T02:42:19.570Z,1628822539.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 325.508975 deg, deltaT: 4.457439 s, approachRate: -0.699954 m/s, LOS rate: -0.713690 deg/s, posRepo size: 4
2021-08-13T02:42:19.576Z,1628822539.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 325.508975 deg,
      approachRate: -0.699954 m/s,
      LOS rate: -0.713690 deg/s,
      cmd update: -2.141069 deg/s,
      cmd heading: 322.908273 deg,
      new cmd heading: 321.192192 deg.

2021-08-13T02:42:21.905Z,1628822541.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:22.257Z,1628822542.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:22.257Z,1628822542.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:22.257Z,1628822542.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:22.258Z,1628822542.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:22.653Z,1628822542.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,003CB,184,80,80,5D,FF
2021-08-13T02:42:22.653Z,1628822542.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:22.653Z,1628822542.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:22.655Z,1628822542.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:23.089Z,1628822543.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:23.485Z,1628822543.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,003A9,183,80,80,A6,FF
2021-08-13T02:42:23.486Z,1628822543.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:23.571Z,1628822543.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:23.917Z,1628822543.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024224.18*55

2021-08-13T02:42:24.011Z,1628822544.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 329.881362 deg, deltaT: 4.465711 s, approachRate: -0.456814 m/s, LOS rate: 0.979102 deg/s, posRepo size: 4
2021-08-13T02:42:24.013Z,1628822544.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 329.881362 deg,
      approachRate: -0.456814 m/s,
      LOS rate: 0.979102 deg/s,
      cmd update: 2.937306 deg/s,
      cmd heading: 313.378107 deg,
      new cmd heading: 312.388013 deg.

2021-08-13T02:42:26.335Z,1628822546.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:26.717Z,1628822546.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:26.717Z,1628822546.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:26.717Z,1628822546.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:26.718Z,1628822546.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:27.121Z,1628822547.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,003A9,183,80,80,A6,FF
2021-08-13T02:42:27.121Z,1628822547.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:27.121Z,1628822547.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:27.123Z,1628822547.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:27.567Z,1628822547.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:27.937Z,1628822547.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00371,186,80,80,8A,FF
2021-08-13T02:42:27.938Z,1628822547.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:27.973Z,1628822547.973 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:28.377Z,1628822548.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024228.64*52

2021-08-13T02:42:28.425Z,1628822548.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 327.623028 deg, deltaT: 4.397957 s, approachRate: -0.763992 m/s, LOS rate: -0.513496 deg/s, posRepo size: 4
2021-08-13T02:42:28.427Z,1628822548.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.359997 m,
      bearing: 327.623028 deg,
      approachRate: -0.763992 m/s,
      LOS rate: -0.513496 deg/s,
      cmd update: -1.540488 deg/s,
      cmd heading: 326.361792 deg,
      new cmd heading: 327.702061 deg.

2021-08-13T02:42:30.837Z,1628822550.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:31.161Z,1628822551.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:31.161Z,1628822551.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:31.161Z,1628822551.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:31.162Z,1628822551.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:31.601Z,1628822551.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00371,186,80,80,8A,FF
2021-08-13T02:42:31.601Z,1628822551.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:31.601Z,1628822551.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:31.603Z,1628822551.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:31.981Z,1628822551.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:32.385Z,1628822552.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,00357,187,80,80,A8,FF
2021-08-13T02:42:32.385Z,1628822552.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:32.405Z,1628822552.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:32.807Z,1628822552.807 [Micromodem](INFO): Nmea in: $SNTTA,0.044680,,,,024233.13*48

2021-08-13T02:42:32.867Z,1628822552.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 323.079013 deg, deltaT: 4.432097 s, approachRate: -0.351977 m/s, LOS rate: -1.025252 deg/s, posRepo size: 4
2021-08-13T02:42:32.874Z,1628822552.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 323.079013 deg,
      approachRate: -0.351977 m/s,
      LOS rate: -1.025252 deg/s,
      cmd update: -3.075755 deg/s,
      cmd heading: 319.531142 deg,
      new cmd heading: 318.824664 deg.

2021-08-13T02:42:35.230Z,1628822555.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:35.613Z,1628822555.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:35.613Z,1628822555.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:35.613Z,1628822555.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:35.614Z,1628822555.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:36.009Z,1628822556.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,00357,187,80,80,A8,FF
2021-08-13T02:42:36.009Z,1628822556.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:36.009Z,1628822556.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:36.011Z,1628822556.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:36.432Z,1628822556.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:36.850Z,1628822556.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00319,184,80,80,98,FF
2021-08-13T02:42:36.851Z,1628822556.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:36.870Z,1628822556.870 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:42:36.915Z,1628822556.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:37.258Z,1628822557.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024237.53*58

2021-08-13T02:42:37.274Z,1628822557.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 325.163887 deg, deltaT: 4.509526 s, approachRate: -0.824921 m/s, LOS rate: 0.462327 deg/s, posRepo size: 4
2021-08-13T02:42:37.276Z,1628822557.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 325.163887 deg,
      approachRate: -0.824921 m/s,
      LOS rate: 0.462327 deg/s,
      cmd update: 1.386980 deg/s,
      cmd heading: 305.673376 deg,
      new cmd heading: 304.547182 deg.

2021-08-13T02:42:39.688Z,1628822559.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:40.049Z,1628822560.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:40.049Z,1628822560.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:40.049Z,1628822560.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:40.050Z,1628822560.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:40.453Z,1628822560.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00319,184,80,80,98,FF
2021-08-13T02:42:40.453Z,1628822560.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:40.453Z,1628822560.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:40.455Z,1628822560.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:40.876Z,1628822560.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:41.698Z,1628822561.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024241.98*5E

2021-08-13T02:42:42.090Z,1628822562.090 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-13T02:42:42.491Z,1628822562.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:44.093Z,1628822564.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,184,80,80,98,FF
2021-08-13T02:42:44.094Z,1628822564.094 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,184,80,80,98,FF
2021-08-13T02:42:44.094Z,1628822564.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:42:45.319Z,1628822565.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:45.709Z,1628822565.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:45.709Z,1628822565.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:45.709Z,1628822565.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:45.710Z,1628822565.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:46.117Z,1628822566.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,184,80,80,98,FF
2021-08-13T02:42:46.117Z,1628822566.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:46.118Z,1628822566.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:46.119Z,1628822566.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:46.520Z,1628822566.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:46.921Z,1628822566.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6A,000,002CD,187,80,80,75,FF
2021-08-13T02:42:46.921Z,1628822566.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:46.952Z,1628822566.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:47.363Z,1628822567.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024247.64*5B

2021-08-13T02:42:47.403Z,1628822567.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 315.757323 deg, deltaT: 10.037552 s, approachRate: -0.454294 m/s, LOS rate: -0.937137 deg/s, posRepo size: 4
2021-08-13T02:42:47.406Z,1628822567.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 315.757323 deg,
      approachRate: -0.454294 m/s,
      LOS rate: -0.937137 deg/s,
      cmd update: -2.811412 deg/s,
      cmd heading: 319.600453 deg,
      new cmd heading: 320.229308 deg.

2021-08-13T02:42:49.849Z,1628822569.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:50.157Z,1628822570.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:50.157Z,1628822570.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:50.157Z,1628822570.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:50.159Z,1628822570.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:50.553Z,1628822570.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6A,000,002CD,187,80,80,75,FF
2021-08-13T02:42:50.553Z,1628822570.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:50.553Z,1628822570.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:50.555Z,1628822570.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:50.965Z,1628822570.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:51.369Z,1628822571.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,002BD,183,80,80,86,FF
2021-08-13T02:42:51.369Z,1628822571.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:51.390Z,1628822571.390 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:51.833Z,1628822571.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024252.08*55

2021-08-13T02:42:51.923Z,1628822571.923 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T02:42:51.923Z,1628822571.923 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:42:51.923Z,1628822571.923 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T02:42:51.923Z,1628822571.923 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:42:51.923Z,1628822571.923 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T02:42:51.928Z,1628822571.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-08-13T02:42:51.928Z,1628822571.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T02:42:51.928Z,1628822571.928 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T02:42:51.929Z,1628822571.929 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T02:42:51.931Z,1628822571.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 321.034300 deg, deltaT: 4.437144 s, approachRate: -0.216356 m/s, LOS rate: 1.189273 deg/s, posRepo size: 4
2021-08-13T02:42:51.937Z,1628822571.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 321.034300 deg,
      approachRate: -0.216356 m/s,
      LOS rate: 1.189273 deg/s,
      cmd update: 3.567820 deg/s,
      cmd heading: 307.125384 deg,
      new cmd heading: 305.593983 deg.

2021-08-13T02:42:52.207Z,1628822572.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T024252: (41.552319, -70.708603)
2021-08-13T02:42:52.207Z,1628822572.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T02:42:52.207Z,1628822572.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T02:42:52.207Z,1628822572.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:42:52.207Z,1628822572.207 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T02:42:52.208Z,1628822572.208 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:42:52.208Z,1628822572.208 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T02:42:52.208Z,1628822572.208 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T02:42:52.208Z,1628822572.208 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:42:52.617Z,1628822572.617 [UniversalFixResidualReporter](INFO): Fix residual: 1.0 %DT, over the last 803.2 m. Residual distance 8.0 m at bearing 129.4 degrees. Fix at (41.5540, -70.7040) with 0.0 m made good.
2021-08-13T02:42:53.922Z,1628822573.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:54.197Z,1628822574.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:54.197Z,1628822574.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:54.197Z,1628822574.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:54.198Z,1628822574.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:54.601Z,1628822574.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,002BD,183,80,80,86,FF
2021-08-13T02:42:54.601Z,1628822574.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:54.601Z,1628822574.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:54.603Z,1628822574.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:55.008Z,1628822575.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:55.405Z,1628822575.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,002BC,186,80,80,A7,FF
2021-08-13T02:42:55.406Z,1628822575.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:55.454Z,1628822575.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:42:55.857Z,1628822575.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024256.12*5A

2021-08-13T02:42:55.951Z,1628822575.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 305.774592 deg, deltaT: 4.064370 s, approachRate: -0.014762 m/s, LOS rate: -3.754508 deg/s, posRepo size: 4
2021-08-13T02:42:55.957Z,1628822575.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 305.774592 deg,
      approachRate: -0.014762 m/s,
      LOS rate: -3.754508 deg/s,
      cmd update: -11.263523 deg/s,
      cmd heading: 321.541113 deg,
      new cmd heading: 323.410837 deg.

2021-08-13T02:42:58.247Z,1628822578.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:42:58.645Z,1628822578.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:42:58.645Z,1628822578.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:42:58.645Z,1628822578.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:42:58.646Z,1628822578.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:42:59.037Z,1628822579.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,002BC,186,80,80,A7,FF
2021-08-13T02:42:59.038Z,1628822579.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:42:59.038Z,1628822579.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:42:59.040Z,1628822579.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:42:59.449Z,1628822579.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:42:59.850Z,1628822579.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,002BC,187,80,80,B3,FF
2021-08-13T02:42:59.850Z,1628822579.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:42:59.935Z,1628822579.935 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:00.285Z,1628822580.285 [Micromodem](INFO): Nmea in: $SNTTA,0.029337,,,,024300.56*4A

2021-08-13T02:43:00.331Z,1628822580.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 281.632059 deg, deltaT: 4.480866 s, approachRate: 0.000000 m/s, LOS rate: -5.387917 deg/s, posRepo size: 4
2021-08-13T02:43:00.337Z,1628822580.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 281.632059 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.387917 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.799662 deg,
      new cmd heading: 266.299726 deg.

2021-08-13T02:43:02.701Z,1628822582.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:03.081Z,1628822583.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:03.081Z,1628822583.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:03.081Z,1628822583.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:03.082Z,1628822583.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:03.489Z,1628822583.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,002BC,187,80,80,B3,FF
2021-08-13T02:43:03.489Z,1628822583.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:03.489Z,1628822583.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:03.491Z,1628822583.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:03.908Z,1628822583.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:04.301Z,1628822584.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6A,000,002BA,186,80,80,B0,FF
2021-08-13T02:43:04.301Z,1628822584.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:04.363Z,1628822584.363 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:04.753Z,1628822584.753 [Micromodem](INFO): Nmea in: $SNTTA,0.042839,,,,024305.01*45

2021-08-13T02:43:04.812Z,1628822584.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 256.526305 deg, deltaT: 4.429030 s, approachRate: -0.027094 m/s, LOS rate: -5.668454 deg/s, posRepo size: 4
2021-08-13T02:43:04.814Z,1628822584.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 256.526305 deg,
      approachRate: -0.027094 m/s,
      LOS rate: -5.668454 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 217.657840 deg,
      new cmd heading: 212.239924 deg.

2021-08-13T02:43:07.168Z,1628822587.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:07.540Z,1628822587.540 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:07.541Z,1628822587.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:07.541Z,1628822587.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:07.542Z,1628822587.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:07.938Z,1628822587.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6A,000,002BA,186,80,80,B0,FF
2021-08-13T02:43:07.938Z,1628822587.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:07.938Z,1628822587.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:07.940Z,1628822587.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:08.337Z,1628822588.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:08.805Z,1628822588.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00170,184,80,80,A5,FF
2021-08-13T02:43:08.805Z,1628822588.805 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-13T02:43:09.165Z,1628822589.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024309.46*50

2021-08-13T02:43:09.681Z,1628822589.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:09.970Z,1628822589.970 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:43:12.396Z,1628822592.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:12.805Z,1628822592.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:12.805Z,1628822592.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:12.805Z,1628822592.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:12.806Z,1628822592.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:13.185Z,1628822593.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00170,184,80,80,A5,FF
2021-08-13T02:43:13.185Z,1628822593.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:13.185Z,1628822593.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:13.187Z,1628822593.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:13.616Z,1628822593.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:13.997Z,1628822593.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002BC,187,80,80,BF,FF
2021-08-13T02:43:13.997Z,1628822593.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:14.047Z,1628822594.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:14.428Z,1628822594.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024314.71*58

2021-08-13T02:43:14.443Z,1628822594.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 241.202011 deg, deltaT: 9.683600 s, approachRate: 0.012392 m/s, LOS rate: -1.582500 deg/s, posRepo size: 4
2021-08-13T02:43:14.444Z,1628822594.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.50 m.
2021-08-13T02:43:14.446Z,1628822594.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 241.202011 deg,
      approachRate: 0.012392 m/s,
      LOS rate: -1.582500 deg/s,
      cmd update: -4.747499 deg/s,
      cmd heading: 101.452597 deg,
      new cmd heading: 96.663277 deg.

2021-08-13T02:43:16.911Z,1628822596.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:17.217Z,1628822597.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:17.217Z,1628822597.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:17.217Z,1628822597.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:17.218Z,1628822597.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:17.511Z,1628822597.511 [CTD_Seabird](ERROR): Failed to parse device response: 3
2021-08-13T02:43:17.626Z,1628822597.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002BC,187,80,80,BF,FF
2021-08-13T02:43:17.627Z,1628822597.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:17.627Z,1628822597.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:17.630Z,1628822597.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:18.052Z,1628822598.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:18.454Z,1628822598.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,002BC,183,80,80,A9,FF
2021-08-13T02:43:18.455Z,1628822598.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:18.488Z,1628822598.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:18.885Z,1628822598.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024319.15*57

2021-08-13T02:43:18.934Z,1628822598.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 241.475519 deg, deltaT: 4.440878 s, approachRate: 0.000000 m/s, LOS rate: 0.061589 deg/s, posRepo size: 4
2021-08-13T02:43:18.940Z,1628822598.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 241.475519 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.061589 deg/s,
      cmd update: 0.184766 deg/s,
      cmd heading: 80.384136 deg,
      new cmd heading: 78.343575 deg.

2021-08-13T02:43:21.296Z,1628822601.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:21.673Z,1628822601.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:21.673Z,1628822601.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:21.673Z,1628822601.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:21.674Z,1628822601.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:22.133Z,1628822602.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,002BC,183,80,80,A9,FF
2021-08-13T02:43:22.133Z,1628822602.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:22.133Z,1628822602.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:22.135Z,1628822602.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:22.570Z,1628822602.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:22.945Z,1628822602.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,002BC,184,80,80,B8,FF
2021-08-13T02:43:22.946Z,1628822602.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:23.003Z,1628822603.003 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:23.393Z,1628822603.393 [Micromodem](INFO): Nmea in: $SNTTA,0.042644,,,,024323.66*44

2021-08-13T02:43:23.396Z,1628822603.396 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:43:23.415Z,1628822603.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 253.292156 deg, deltaT: 4.514709 s, approachRate: 0.000000 m/s, LOS rate: 2.617364 deg/s, posRepo size: 4
2021-08-13T02:43:23.417Z,1628822603.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 253.292156 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.617364 deg/s,
      cmd update: 7.852092 deg/s,
      cmd heading: 81.218940 deg,
      new cmd heading: 81.295650 deg.

2021-08-13T02:43:25.913Z,1628822605.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:26.179Z,1628822606.179 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:26.179Z,1628822606.179 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:26.179Z,1628822606.179 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:26.182Z,1628822606.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:26.590Z,1628822606.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,002BC,184,80,80,B8,FF
2021-08-13T02:43:26.590Z,1628822606.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:26.590Z,1628822606.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:26.593Z,1628822606.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:26.993Z,1628822606.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:27.403Z,1628822607.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,002BC,187,80,80,CA,FF
2021-08-13T02:43:27.404Z,1628822607.404 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:27.471Z,1628822607.471 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:27.850Z,1628822607.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024328.12*52

2021-08-13T02:43:27.922Z,1628822607.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 259.900828 deg, deltaT: 4.467685 s, approachRate: 0.000000 m/s, LOS rate: 1.479216 deg/s, posRepo size: 4
2021-08-13T02:43:27.925Z,1628822607.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 259.900828 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.479216 deg/s,
      cmd update: 4.437649 deg/s,
      cmd heading: 116.267640 deg,
      new cmd heading: 119.869136 deg.

2021-08-13T02:43:30.243Z,1628822610.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:30.634Z,1628822610.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:30.634Z,1628822610.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:30.634Z,1628822610.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:30.635Z,1628822610.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:31.037Z,1628822611.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,002BC,187,80,80,CA,FF
2021-08-13T02:43:31.037Z,1628822611.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:31.038Z,1628822611.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:31.039Z,1628822611.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:31.443Z,1628822611.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:31.893Z,1628822611.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,002BC,186,80,80,C1,FF
2021-08-13T02:43:31.893Z,1628822611.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:31.972Z,1628822611.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:32.306Z,1628822612.306 [Micromodem](INFO): Nmea in: $SNTTA,0.059186,,,,024332.56*44

2021-08-13T02:43:32.330Z,1628822612.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 260.835307 deg, deltaT: 4.501287 s, approachRate: 0.000000 m/s, LOS rate: 0.207603 deg/s, posRepo size: 4
2021-08-13T02:43:32.332Z,1628822612.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 260.835307 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.207603 deg/s,
      cmd update: 0.622808 deg/s,
      cmd heading: 136.224414 deg,
      new cmd heading: 137.856705 deg.

2021-08-13T02:43:34.782Z,1628822614.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:35.095Z,1628822615.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:35.095Z,1628822615.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:35.095Z,1628822615.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:35.096Z,1628822615.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:35.507Z,1628822615.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,002BC,186,80,80,C1,FF
2021-08-13T02:43:35.513Z,1628822615.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:35.514Z,1628822615.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:35.522Z,1628822615.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:35.918Z,1628822615.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:36.309Z,1628822616.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,002BC,187,80,80,A5,FF
2021-08-13T02:43:36.309Z,1628822616.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:36.338Z,1628822616.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:36.729Z,1628822616.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024337.04*5B

2021-08-13T02:43:36.789Z,1628822616.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 259.740346 deg, deltaT: 4.365512 s, approachRate: 0.000000 m/s, LOS rate: -0.250821 deg/s, posRepo size: 4
2021-08-13T02:43:36.791Z,1628822616.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 259.740346 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.250821 deg/s,
      cmd update: -0.752462 deg/s,
      cmd heading: 138.946356 deg,
      new cmd heading: 139.228643 deg.

2021-08-13T02:43:39.180Z,1628822619.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:39.562Z,1628822619.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:39.562Z,1628822619.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:39.562Z,1628822619.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:39.563Z,1628822619.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:39.933Z,1628822619.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,002BC,187,80,80,A5,FF
2021-08-13T02:43:39.933Z,1628822619.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:39.933Z,1628822619.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:39.935Z,1628822619.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:40.340Z,1628822620.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:40.748Z,1628822620.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,002BD,183,80,80,A2,FF
2021-08-13T02:43:40.750Z,1628822620.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:40.831Z,1628822620.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:41.185Z,1628822621.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024341.46*5C

2021-08-13T02:43:41.230Z,1628822621.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 252.193889 deg, deltaT: 4.498120 s, approachRate: 0.013338 m/s, LOS rate: -1.677691 deg/s, posRepo size: 4
2021-08-13T02:43:41.237Z,1628822621.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 252.193889 deg,
      approachRate: 0.013338 m/s,
      LOS rate: -1.677691 deg/s,
      cmd update: -5.033074 deg/s,
      cmd heading: 135.565363 deg,
      new cmd heading: 135.264124 deg.

2021-08-13T02:43:43.721Z,1628822623.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:43.973Z,1628822623.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:43.973Z,1628822623.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:43.973Z,1628822623.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:43.974Z,1628822623.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:44.381Z,1628822624.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,002BD,183,80,80,A2,FF
2021-08-13T02:43:44.381Z,1628822624.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:44.381Z,1628822624.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:44.383Z,1628822624.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:44.833Z,1628822624.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:45.618Z,1628822625.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024345.91*52

2021-08-13T02:43:46.454Z,1628822626.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:48.054Z,1628822628.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,A2,FF
2021-08-13T02:43:48.055Z,1628822628.055 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,A2,FF
2021-08-13T02:43:48.055Z,1628822628.055 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:43:49.261Z,1628822629.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:49.645Z,1628822629.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:49.645Z,1628822629.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:49.646Z,1628822629.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:49.647Z,1628822629.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:50.057Z,1628822630.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,A2,FF
2021-08-13T02:43:50.057Z,1628822630.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:50.058Z,1628822630.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:50.059Z,1628822630.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:50.464Z,1628822630.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:50.863Z,1628822630.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,002BE,183,80,80,94,FF
2021-08-13T02:43:50.863Z,1628822630.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:50.928Z,1628822630.928 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:51.314Z,1628822631.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024351.58*52

2021-08-13T02:43:51.336Z,1628822631.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 244.336357 deg, deltaT: 10.092154 s, approachRate: 0.005945 m/s, LOS rate: -0.778578 deg/s, posRepo size: 4
2021-08-13T02:43:51.338Z,1628822631.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 244.336357 deg,
      approachRate: 0.005945 m/s,
      LOS rate: -0.778578 deg/s,
      cmd update: -2.335735 deg/s,
      cmd heading: 84.732179 deg,
      new cmd heading: 82.661723 deg.

2021-08-13T02:43:53.801Z,1628822633.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:54.093Z,1628822634.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:54.093Z,1628822634.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:54.093Z,1628822634.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:54.094Z,1628822634.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:54.501Z,1628822634.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,002BE,183,80,80,94,FF
2021-08-13T02:43:54.501Z,1628822634.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:54.502Z,1628822634.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:54.503Z,1628822634.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:54.922Z,1628822634.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:55.316Z,1628822635.316 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,002BC,185,80,80,9F,FF
2021-08-13T02:43:55.317Z,1628822635.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:55.373Z,1628822635.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:55.793Z,1628822635.793 [Micromodem](INFO): Nmea in: $SNTTA,0.175827,,,,024356.03*4B

2021-08-13T02:43:55.851Z,1628822635.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 249.453863 deg, deltaT: 4.445207 s, approachRate: -0.026995 m/s, LOS rate: 1.151241 deg/s, posRepo size: 4
2021-08-13T02:43:55.871Z,1628822635.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 249.453863 deg,
      approachRate: -0.026995 m/s,
      LOS rate: 1.151241 deg/s,
      cmd update: 3.453724 deg/s,
      cmd heading: 74.370229 deg,
      new cmd heading: 73.231460 deg.

2021-08-13T02:43:57.921Z,1628822637.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:43:58.205Z,1628822638.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:43:58.205Z,1628822638.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:43:58.205Z,1628822638.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:43:58.206Z,1628822638.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:43:58.617Z,1628822638.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,002BC,185,80,80,9F,FF
2021-08-13T02:43:58.617Z,1628822638.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:43:58.617Z,1628822638.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:43:58.619Z,1628822638.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:43:59.017Z,1628822639.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:43:59.425Z,1628822639.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002BB,186,80,80,B4,FF
2021-08-13T02:43:59.425Z,1628822639.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:43:59.446Z,1628822639.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:43:59.838Z,1628822639.838 [Micromodem](INFO): Nmea in: $SNTTA,0.394264,0.394533,,,024400.14*5C

2021-08-13T02:43:59.932Z,1628822639.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 254.199369 deg, deltaT: 4.072639 s, approachRate: -0.014733 m/s, LOS rate: 1.165217 deg/s, posRepo size: 4
2021-08-13T02:43:59.935Z,1628822639.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 254.199369 deg,
      approachRate: -0.014733 m/s,
      LOS rate: 1.165217 deg/s,
      cmd update: 3.495649 deg/s,
      cmd heading: 88.468086 deg,
      new cmd heading: 90.154785 deg.

2021-08-13T02:44:02.267Z,1628822642.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:02.653Z,1628822642.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:02.653Z,1628822642.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:02.653Z,1628822642.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:02.654Z,1628822642.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:03.056Z,1628822643.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002BB,186,80,80,B4,FF
2021-08-13T02:44:03.056Z,1628822643.056 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:03.057Z,1628822643.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:03.058Z,1628822643.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:03.453Z,1628822643.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:03.866Z,1628822643.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,002BC,185,80,80,C0,FF
2021-08-13T02:44:03.867Z,1628822643.867 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:03.958Z,1628822643.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:04.301Z,1628822644.301 [Micromodem](INFO): Nmea in: $SNTTA,,0.175122,,,024404.58*49

2021-08-13T02:44:04.335Z,1628822644.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 261.186325 deg, deltaT: 4.512737 s, approachRate: 0.013296 m/s, LOS rate: 1.548275 deg/s, posRepo size: 4
2021-08-13T02:44:04.338Z,1628822644.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 261.186325 deg,
      approachRate: 0.013296 m/s,
      LOS rate: 1.548275 deg/s,
      cmd update: 4.644824 deg/s,
      cmd heading: 104.186823 deg,
      new cmd heading: 105.572219 deg.

2021-08-13T02:44:06.732Z,1628822646.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:07.097Z,1628822647.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:07.097Z,1628822647.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:07.097Z,1628822647.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:07.098Z,1628822647.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:07.509Z,1628822647.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,002BC,185,80,80,C0,FF
2021-08-13T02:44:07.509Z,1628822647.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:07.510Z,1628822647.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:07.515Z,1628822647.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:07.909Z,1628822647.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:08.310Z,1628822648.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,002BD,184,80,80,86,FF
2021-08-13T02:44:08.310Z,1628822648.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:08.333Z,1628822648.333 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:08.727Z,1628822648.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024409.04*51

2021-08-13T02:44:08.802Z,1628822648.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 256.882868 deg, deltaT: 4.374655 s, approachRate: 0.013715 m/s, LOS rate: -0.983725 deg/s, posRepo size: 4
2021-08-13T02:44:08.808Z,1628822648.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 256.882868 deg,
      approachRate: 0.013715 m/s,
      LOS rate: -0.983725 deg/s,
      cmd update: -2.951174 deg/s,
      cmd heading: 124.581649 deg,
      new cmd heading: 126.772375 deg.

2021-08-13T02:44:11.158Z,1628822651.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:11.567Z,1628822651.567 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:11.567Z,1628822651.567 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:11.567Z,1628822651.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:11.568Z,1628822651.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:11.937Z,1628822651.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,002BD,184,80,80,86,FF
2021-08-13T02:44:11.937Z,1628822651.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:11.937Z,1628822651.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:11.939Z,1628822651.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:12.349Z,1628822652.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:12.749Z,1628822652.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAD,000,002BC,185,80,80,C4,FF
2021-08-13T02:44:12.750Z,1628822652.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:12.840Z,1628822652.840 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:13.193Z,1628822653.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024413.46*5C

2021-08-13T02:44:13.215Z,1628822653.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 257.639954 deg, deltaT: 4.506815 s, approachRate: -0.013313 m/s, LOS rate: 0.167987 deg/s, posRepo size: 4
2021-08-13T02:44:13.218Z,1628822653.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 257.639954 deg,
      approachRate: -0.013313 m/s,
      LOS rate: 0.167987 deg/s,
      cmd update: 0.503960 deg/s,
      cmd heading: 111.305604 deg,
      new cmd heading: 110.163706 deg.

2021-08-13T02:44:15.663Z,1628822655.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:15.978Z,1628822655.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:15.978Z,1628822655.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:15.978Z,1628822655.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:15.979Z,1628822655.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:16.391Z,1628822656.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAD,000,002BC,185,80,80,C4,FF
2021-08-13T02:44:16.391Z,1628822656.391 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:16.392Z,1628822656.392 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:16.393Z,1628822656.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:16.828Z,1628822656.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:17.193Z,1628822657.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,002BC,184,80,80,A0,FF
2021-08-13T02:44:17.193Z,1628822657.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:17.282Z,1628822657.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:17.621Z,1628822657.621 [Micromodem](INFO): Nmea in: $SNTTA,0.466668,0.466793,,,024417.91*57

2021-08-13T02:44:17.672Z,1628822657.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 256.760417 deg, deltaT: 4.441629 s, approachRate: 0.000000 m/s, LOS rate: -0.198021 deg/s, posRepo size: 4
2021-08-13T02:44:17.674Z,1628822657.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 256.760417 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.198021 deg/s,
      cmd update: -0.594064 deg/s,
      cmd heading: 113.548080 deg,
      new cmd heading: 113.746479 deg.

2021-08-13T02:44:20.068Z,1628822660.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:20.421Z,1628822660.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:20.421Z,1628822660.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:20.421Z,1628822660.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:20.422Z,1628822660.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:20.837Z,1628822660.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,002BC,184,80,80,A0,FF
2021-08-13T02:44:20.837Z,1628822660.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:20.838Z,1628822660.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:20.839Z,1628822660.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:21.229Z,1628822661.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:21.665Z,1628822661.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,002BC,184,80,80,B4,FF
2021-08-13T02:44:21.665Z,1628822661.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:21.669Z,1628822661.669 [Micromodem](INFO): Nmea in: $SNTTA,0.283843,0.283793,,,024422.36*5B

2021-08-13T02:44:21.829Z,1628822661.829 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:22.091Z,1628822662.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 256.398034 deg, deltaT: 4.547686 s, approachRate: 0.000000 m/s, LOS rate: -0.079685 deg/s, posRepo size: 4
2021-08-13T02:44:22.094Z,1628822662.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 256.398034 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.079685 deg/s,
      cmd update: -0.239055 deg/s,
      cmd heading: 110.846485 deg,
      new cmd heading: 110.688939 deg.

2021-08-13T02:44:24.512Z,1628822664.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:24.878Z,1628822664.878 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:24.878Z,1628822664.878 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:24.878Z,1628822664.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:24.879Z,1628822664.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:25.297Z,1628822665.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,002BC,184,80,80,B4,FF
2021-08-13T02:44:25.297Z,1628822665.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:25.297Z,1628822665.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:25.299Z,1628822665.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:25.697Z,1628822665.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:26.093Z,1628822666.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,002BD,183,80,80,84,FF
2021-08-13T02:44:26.094Z,1628822666.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:26.124Z,1628822666.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:26.529Z,1628822666.529 [Micromodem](INFO): Nmea in: $SNTTA,0.006709,,,,024426.82*44

2021-08-13T02:44:26.564Z,1628822666.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 253.137302 deg, deltaT: 4.294730 s, approachRate: 0.013970 m/s, LOS rate: -0.759240 deg/s, posRepo size: 4
2021-08-13T02:44:26.566Z,1628822666.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 253.137302 deg,
      approachRate: 0.013970 m/s,
      LOS rate: -0.759240 deg/s,
      cmd update: -2.277721 deg/s,
      cmd heading: 109.819868 deg,
      new cmd heading: 109.713932 deg.

2021-08-13T02:44:28.963Z,1628822668.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:29.329Z,1628822669.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:29.329Z,1628822669.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:29.329Z,1628822669.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:29.330Z,1628822669.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:29.729Z,1628822669.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,002BD,183,80,80,84,FF
2021-08-13T02:44:29.729Z,1628822669.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:29.729Z,1628822669.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:29.731Z,1628822669.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:30.148Z,1628822670.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:30.541Z,1628822670.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,002BD,185,80,80,9A,FF
2021-08-13T02:44:30.541Z,1628822670.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:30.621Z,1628822670.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:30.985Z,1628822670.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024431.25*59

2021-08-13T02:44:31.015Z,1628822671.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 251.862242 deg, deltaT: 4.497471 s, approachRate: 0.000000 m/s, LOS rate: -0.283506 deg/s, posRepo size: 4
2021-08-13T02:44:31.018Z,1628822671.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 251.862242 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.283506 deg/s,
      cmd update: -0.850518 deg/s,
      cmd heading: 99.611628 deg,
      new cmd heading: 98.670431 deg.

2021-08-13T02:44:33.405Z,1628822673.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:33.775Z,1628822673.775 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:33.775Z,1628822673.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:33.775Z,1628822673.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:33.781Z,1628822673.781 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:34.184Z,1628822674.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,002BD,185,80,80,9A,FF
2021-08-13T02:44:34.185Z,1628822674.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:34.185Z,1628822674.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:34.187Z,1628822674.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:34.573Z,1628822674.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:34.991Z,1628822674.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,002BC,184,80,80,88,FF
2021-08-13T02:44:34.992Z,1628822674.992 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:35.022Z,1628822675.022 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:35.413Z,1628822675.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024435.71*5C

2021-08-13T02:44:35.435Z,1628822675.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.500001 m, bearing: 249.036675 deg, deltaT: 4.400646 s, approachRate: -0.013634 m/s, LOS rate: -0.642080 deg/s, posRepo size: 4
2021-08-13T02:44:35.438Z,1628822675.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 249.036675 deg,
      approachRate: -0.013634 m/s,
      LOS rate: -0.642080 deg/s,
      cmd update: -1.926240 deg/s,
      cmd heading: 95.855234 deg,
      new cmd heading: 95.500891 deg.

2021-08-13T02:44:37.910Z,1628822677.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:38.222Z,1628822678.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:38.222Z,1628822678.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:38.222Z,1628822678.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:38.223Z,1628822678.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:38.617Z,1628822678.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,002BC,184,80,80,88,FF
2021-08-13T02:44:38.617Z,1628822678.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:38.618Z,1628822678.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:38.619Z,1628822678.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:39.035Z,1628822679.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:39.429Z,1628822679.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,002BD,183,80,80,97,FF
2021-08-13T02:44:39.429Z,1628822679.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:39.474Z,1628822679.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:39.874Z,1628822679.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024440.14*5D

2021-08-13T02:44:39.940Z,1628822679.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 241.900466 deg, deltaT: 4.452080 s, approachRate: 0.013476 m/s, LOS rate: -1.602893 deg/s, posRepo size: 4
2021-08-13T02:44:39.942Z,1628822679.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 241.900466 deg,
      approachRate: 0.013476 m/s,
      LOS rate: -1.602893 deg/s,
      cmd update: -4.808679 deg/s,
      cmd heading: 87.279525 deg,
      new cmd heading: 86.376540 deg.

2021-08-13T02:44:41.975Z,1628822681.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:42.254Z,1628822682.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:42.254Z,1628822682.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:42.254Z,1628822682.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:42.255Z,1628822682.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:42.657Z,1628822682.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,002BD,183,80,80,97,FF
2021-08-13T02:44:42.657Z,1628822682.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:42.657Z,1628822682.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:42.659Z,1628822682.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:43.072Z,1628822683.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:43.473Z,1628822683.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,002BE,183,80,80,92,FF
2021-08-13T02:44:43.473Z,1628822683.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:43.509Z,1628822683.509 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:43.921Z,1628822683.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024444.18*55

2021-08-13T02:44:43.974Z,1628822683.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 244.666447 deg, deltaT: 4.036348 s, approachRate: 0.014865 m/s, LOS rate: 0.685268 deg/s, posRepo size: 4
2021-08-13T02:44:43.976Z,1628822683.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 244.666447 deg,
      approachRate: 0.014865 m/s,
      LOS rate: 0.685268 deg/s,
      cmd update: 2.055804 deg/s,
      cmd heading: 67.931140 deg,
      new cmd heading: 65.625715 deg.

2021-08-13T02:44:46.345Z,1628822686.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:46.697Z,1628822686.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:46.697Z,1628822686.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:46.697Z,1628822686.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:46.698Z,1628822686.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:47.105Z,1628822687.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,002BE,183,80,80,92,FF
2021-08-13T02:44:47.105Z,1628822687.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:47.106Z,1628822687.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:47.109Z,1628822687.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:47.519Z,1628822687.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:47.942Z,1628822687.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,002BE,184,80,80,84,FF
2021-08-13T02:44:47.943Z,1628822687.943 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:47.947Z,1628822687.947 [Micromodem](INFO): Nmea in: $SNTTA,0.027231,0.148844,,,024448.63*55

2021-08-13T02:44:48.057Z,1628822688.057 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:44:48.356Z,1628822688.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 247.587937 deg, deltaT: 4.546838 s, approachRate: 0.000000 m/s, LOS rate: 0.642532 deg/s, posRepo size: 4
2021-08-13T02:44:48.357Z,1628822688.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.62 m. Cable present. Reached intercept timeout.
2021-08-13T02:44:48.357Z,1628822688.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T02:44:48.357Z,1628822688.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T02:44:48.357Z,1628822688.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-13T02:44:48.772Z,1628822688.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-13T02:44:48.772Z,1628822688.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-13T02:44:48.773Z,1628822688.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-13T02:44:49.178Z,1628822689.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-13T02:44:49.179Z,1628822689.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T02:44:49.180Z,1628822689.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:44:49.576Z,1628822689.576 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T02:44:49.577Z,1628822689.577 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:44:49.577Z,1628822689.577 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T02:44:49.577Z,1628822689.577 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T02:44:49.577Z,1628822689.577 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-13T02:44:49.577Z,1628822689.577 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-13T02:44:49.579Z,1628822689.579 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:44:49.579Z,1628822689.579 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-13T02:44:49.579Z,1628822689.579 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-13T02:44:49.584Z,1628822689.584 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T02:44:49.584Z,1628822689.584 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T02:44:49.584Z,1628822689.584 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T02:44:49.584Z,1628822689.584 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:44:49.585Z,1628822689.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T02:44:49.585Z,1628822689.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:44:49.585Z,1628822689.585 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-13T02:44:49.585Z,1628822689.585 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-13T02:44:49.969Z,1628822689.969 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-13T02:44:49.969Z,1628822689.969 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T02:44:50.777Z,1628822690.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:51.125Z,1628822691.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:51.125Z,1628822691.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:51.125Z,1628822691.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:51.126Z,1628822691.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:51.565Z,1628822691.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,002BE,184,80,80,84,FF
2021-08-13T02:44:51.566Z,1628822691.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:51.566Z,1628822691.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:51.567Z,1628822691.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:51.954Z,1628822691.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:52.325Z,1628822692.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,002BD,183,80,80,8D,FF
2021-08-13T02:44:52.325Z,1628822692.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:52.756Z,1628822692.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024453.09*53

2021-08-13T02:44:53.173Z,1628822693.173 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-13T02:44:53.173Z,1628822693.173 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-13T02:44:53.173Z,1628822693.173 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T02:44:53.173Z,1628822693.173 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-13T02:44:53.636Z,1628822693.636 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-13T02:44:53.637Z,1628822693.637 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-13T02:44:53.639Z,1628822693.639 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-13T02:44:53.639Z,1628822693.639 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T02:44:53.644Z,1628822693.644 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T02:44:53.644Z,1628822693.644 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T02:44:53.644Z,1628822693.644 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T02:44:53.644Z,1628822693.644 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T02:44:53.645Z,1628822693.645 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T02:44:53.645Z,1628822693.645 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T02:44:53.645Z,1628822693.645 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T02:44:53.645Z,1628822693.645 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T02:44:53.645Z,1628822693.645 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T02:44:53.646Z,1628822693.646 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T02:44:53.989Z,1628822693.989 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-13T02:44:53.989Z,1628822693.989 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T02:44:53.990Z,1628822693.990 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T02:44:53.990Z,1628822693.990 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-13T02:44:54.377Z,1628822694.377 [lineCaptureDepth:Lap:C] Stopped
2021-08-13T02:44:54.377Z,1628822694.377 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-13T02:44:54.818Z,1628822694.818 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-13T02:44:54.818Z,1628822694.818 [lineCaptureDepth:Lap:D] Stopped
2021-08-13T02:44:54.818Z,1628822694.818 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-13T02:44:54.818Z,1628822694.818 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-13T02:44:54.818Z,1628822694.818 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-13T02:44:55.182Z,1628822695.182 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-13T02:44:55.182Z,1628822695.182 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-13T02:44:55.183Z,1628822695.183 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-13T02:44:55.183Z,1628822695.183 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-13T02:44:55.183Z,1628822695.183 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-13T02:44:55.183Z,1628822695.183 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-13T02:44:55.184Z,1628822695.184 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-13T02:44:55.185Z,1628822695.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:44:55.582Z,1628822695.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:44:55.583Z,1628822695.583 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:44:55.583Z,1628822695.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:44:55.584Z,1628822695.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:44:55.964Z,1628822695.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,002BD,183,80,80,8D,FF
2021-08-13T02:44:55.965Z,1628822695.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:44:55.965Z,1628822695.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:44:55.966Z,1628822695.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:44:56.465Z,1628822696.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:44:56.825Z,1628822696.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,002BE,186,80,80,7B,FF
2021-08-13T02:44:56.825Z,1628822696.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:44:57.238Z,1628822697.238 [Micromodem](INFO): Nmea in: $SNTTA,0.030011,,,,024457.49*4E

2021-08-13T02:44:59.666Z,1628822699.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:00.037Z,1628822700.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:00.037Z,1628822700.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:00.037Z,1628822700.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:00.038Z,1628822700.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:00.437Z,1628822700.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,002BE,186,80,80,7B,FF
2021-08-13T02:45:00.437Z,1628822700.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:00.437Z,1628822700.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:00.439Z,1628822700.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:00.859Z,1628822700.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:01.305Z,1628822701.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,002BD,186,80,80,76,FF
2021-08-13T02:45:01.306Z,1628822701.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:01.689Z,1628822701.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024501.96*53

2021-08-13T02:45:04.101Z,1628822704.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:04.492Z,1628822704.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:04.492Z,1628822704.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:04.492Z,1628822704.492 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:04.493Z,1628822704.493 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:04.882Z,1628822704.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,002BD,186,80,80,76,FF
2021-08-13T02:45:04.882Z,1628822704.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:04.882Z,1628822704.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:04.885Z,1628822704.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:05.292Z,1628822705.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:05.685Z,1628822705.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,002BD,186,80,80,8B,FF
2021-08-13T02:45:05.685Z,1628822705.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:05.689Z,1628822705.689 [Micromodem](INFO): Nmea in: $SNTTA,0.034425,0.260532,,,024506.41*5A

2021-08-13T02:45:08.519Z,1628822708.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:08.997Z,1628822708.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:08.997Z,1628822708.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:08.997Z,1628822708.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:08.998Z,1628822708.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:09.329Z,1628822709.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,002BD,186,80,80,8B,FF
2021-08-13T02:45:09.329Z,1628822709.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:09.329Z,1628822709.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:09.330Z,1628822709.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:09.736Z,1628822709.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:10.129Z,1628822710.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,002BC,186,80,80,61,FF
2021-08-13T02:45:10.129Z,1628822710.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:10.565Z,1628822710.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024510.85*51

2021-08-13T02:45:12.997Z,1628822712.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:13.369Z,1628822713.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:13.369Z,1628822713.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:13.369Z,1628822713.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:13.370Z,1628822713.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:13.787Z,1628822713.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,002BC,186,80,80,61,FF
2021-08-13T02:45:13.787Z,1628822713.787 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:13.787Z,1628822713.787 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:13.790Z,1628822713.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:14.173Z,1628822714.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:14.579Z,1628822714.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,002BE,187,80,80,61,FF
2021-08-13T02:45:14.579Z,1628822714.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:15.005Z,1628822715.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024515.31*5B

2021-08-13T02:45:17.408Z,1628822717.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:17.825Z,1628822717.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:17.825Z,1628822717.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:17.825Z,1628822717.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:17.826Z,1628822717.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:18.186Z,1628822718.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,002BE,187,80,80,61,FF
2021-08-13T02:45:18.186Z,1628822718.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:18.186Z,1628822718.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:18.192Z,1628822718.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:18.585Z,1628822718.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:19.101Z,1628822719.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,002BD,185,80,80,4E,FF
2021-08-13T02:45:19.101Z,1628822719.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:19.449Z,1628822719.449 [Micromodem](INFO): Nmea in: $SNTTA,0.027674,,,,024519.71*4D

2021-08-13T02:45:21.951Z,1628822721.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:22.257Z,1628822722.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:22.257Z,1628822722.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:22.257Z,1628822722.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:22.258Z,1628822722.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:22.657Z,1628822722.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,002BD,185,80,80,4E,FF
2021-08-13T02:45:22.657Z,1628822722.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:22.657Z,1628822722.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:22.659Z,1628822722.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:23.080Z,1628822723.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:23.461Z,1628822723.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,002BD,187,80,80,47,FF
2021-08-13T02:45:23.462Z,1628822723.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:23.889Z,1628822723.889 [Micromodem](INFO): Nmea in: $SNTTA,0.036358,0.373626,,,024524.18*5C

2021-08-13T02:45:26.306Z,1628822726.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:26.693Z,1628822726.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:26.693Z,1628822726.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:26.694Z,1628822726.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:26.695Z,1628822726.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:27.109Z,1628822727.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,002BD,187,80,80,47,FF
2021-08-13T02:45:27.109Z,1628822727.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:27.109Z,1628822727.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:27.111Z,1628822727.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:27.483Z,1628822727.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:28.302Z,1628822728.302 [Micromodem](INFO): Nmea in: $SNTTA,,0.106395,,,024528.63*44

2021-08-13T02:45:29.201Z,1628822729.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,03600,184,80,80,60,FF
2021-08-13T02:45:29.201Z,1628822729.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:32.005Z,1628822732.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:32.349Z,1628822732.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:32.349Z,1628822732.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:32.349Z,1628822732.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:32.350Z,1628822732.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:32.780Z,1628822732.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,03600,184,80,80,60,FF
2021-08-13T02:45:32.780Z,1628822732.780 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:32.781Z,1628822732.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:32.782Z,1628822732.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:33.173Z,1628822733.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:33.617Z,1628822733.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,002BD,183,80,80,6D,FF
2021-08-13T02:45:33.617Z,1628822733.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:33.997Z,1628822733.997 [Micromodem](INFO): Nmea in: $SNTTA,0.021799,,,,024534.31*42

2021-08-13T02:45:36.407Z,1628822736.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:36.825Z,1628822736.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:36.825Z,1628822736.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:36.825Z,1628822736.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:36.826Z,1628822736.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:37.213Z,1628822737.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,002BD,183,80,80,6D,FF
2021-08-13T02:45:37.213Z,1628822737.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:37.213Z,1628822737.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:37.215Z,1628822737.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:37.593Z,1628822737.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:38.009Z,1628822738.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,002BD,187,80,80,55,FF
2021-08-13T02:45:38.009Z,1628822738.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:38.422Z,1628822738.422 [Micromodem](INFO): Nmea in: $SNTTA,0.035913,,,,024538.73*41

2021-08-13T02:45:40.895Z,1628822740.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:41.233Z,1628822741.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:41.233Z,1628822741.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:41.233Z,1628822741.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:41.234Z,1628822741.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:41.654Z,1628822741.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,002BD,187,80,80,55,FF
2021-08-13T02:45:41.655Z,1628822741.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:41.655Z,1628822741.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:41.657Z,1628822741.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:42.056Z,1628822742.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:42.454Z,1628822742.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,002C2,185,80,80,8B,FF
2021-08-13T02:45:42.454Z,1628822742.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:42.874Z,1628822742.874 [Micromodem](INFO): Nmea in: $SNTTA,0.020816,,,,024543.18*40

2021-08-13T02:45:45.318Z,1628822745.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:45.686Z,1628822745.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:45.686Z,1628822745.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:45.686Z,1628822745.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:45.687Z,1628822745.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:46.093Z,1628822746.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,002C2,185,80,80,8B,FF
2021-08-13T02:45:46.093Z,1628822746.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:46.093Z,1628822746.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:46.095Z,1628822746.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:46.508Z,1628822746.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:46.917Z,1628822746.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,002C3,186,80,80,8E,FF
2021-08-13T02:45:46.917Z,1628822746.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:47.345Z,1628822747.345 [Micromodem](INFO): Nmea in: $SNTTA,0.006536,,,,024547.62*42

2021-08-13T02:45:49.814Z,1628822749.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:50.133Z,1628822750.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:50.133Z,1628822750.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:50.133Z,1628822750.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:50.134Z,1628822750.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:50.529Z,1628822750.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,002C3,186,80,80,8E,FF
2021-08-13T02:45:50.529Z,1628822750.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:50.529Z,1628822750.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:50.531Z,1628822750.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:50.944Z,1628822750.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:51.341Z,1628822751.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,002BC,185,80,80,48,FF
2021-08-13T02:45:51.341Z,1628822751.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:51.797Z,1628822751.797 [Micromodem](INFO): Nmea in: $SNTTA,0.436848,,,,024552.05*44

2021-08-13T02:45:53.860Z,1628822753.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:54.169Z,1628822754.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:54.169Z,1628822754.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:54.169Z,1628822754.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:54.170Z,1628822754.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:54.573Z,1628822754.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,002BC,185,80,80,48,FF
2021-08-13T02:45:54.573Z,1628822754.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:54.574Z,1628822754.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:54.575Z,1628822754.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:54.980Z,1628822754.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:45:55.378Z,1628822755.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,002C2,186,80,80,7D,FF
2021-08-13T02:45:55.378Z,1628822755.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:45:55.401Z,1628822755.401 [Micromodem](INFO): Nmea in: $SNTTA,0.028858,0.159553,,,024556.10*5E

2021-08-13T02:45:58.238Z,1628822758.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:45:58.580Z,1628822758.580 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:45:58.581Z,1628822758.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:45:58.581Z,1628822758.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:45:58.582Z,1628822758.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:45:58.999Z,1628822758.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,002C2,186,80,80,7D,FF
2021-08-13T02:45:58.999Z,1628822758.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:45:58.999Z,1628822758.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:45:59.001Z,1628822759.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:45:59.493Z,1628822759.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:00.242Z,1628822760.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024600.52*59

2021-08-13T02:46:01.065Z,1628822761.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:02.649Z,1628822762.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,7D,FF
2021-08-13T02:46:02.649Z,1628822762.649 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,7D,FF
2021-08-13T02:46:02.649Z,1628822762.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:46:03.938Z,1628822763.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:04.273Z,1628822764.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:04.273Z,1628822764.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:04.273Z,1628822764.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:04.274Z,1628822764.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:04.686Z,1628822764.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,7D,FF
2021-08-13T02:46:04.686Z,1628822764.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:04.686Z,1628822764.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:04.688Z,1628822764.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:05.085Z,1628822765.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:05.482Z,1628822765.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,002BC,186,80,80,6B,FF
2021-08-13T02:46:05.482Z,1628822765.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:05.897Z,1628822765.897 [Micromodem](INFO): Nmea in: $SNTTA,0.027277,0.358328,,,024606.21*5B

2021-08-13T02:46:08.334Z,1628822768.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:08.693Z,1628822768.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:08.693Z,1628822768.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:08.693Z,1628822768.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:08.694Z,1628822768.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:09.105Z,1628822769.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,002BC,186,80,80,6B,FF
2021-08-13T02:46:09.105Z,1628822769.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:09.105Z,1628822769.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:09.107Z,1628822769.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:09.617Z,1628822769.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:09.944Z,1628822769.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,002C2,186,80,80,86,FF
2021-08-13T02:46:09.945Z,1628822769.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:10.362Z,1628822770.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024610.63*5A

2021-08-13T02:46:12.813Z,1628822772.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:13.165Z,1628822773.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:13.165Z,1628822773.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:13.165Z,1628822773.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:13.166Z,1628822773.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:13.609Z,1628822773.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,002C2,186,80,80,86,FF
2021-08-13T02:46:13.609Z,1628822773.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:13.609Z,1628822773.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:13.611Z,1628822773.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:13.973Z,1628822773.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:14.369Z,1628822774.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,002BD,187,80,80,64,FF
2021-08-13T02:46:14.369Z,1628822774.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:14.803Z,1628822774.803 [Micromodem](INFO): Nmea in: $SNTTA,0.031747,,,,024615.13*40

2021-08-13T02:46:16.886Z,1628822776.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:17.201Z,1628822777.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:17.201Z,1628822777.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:17.201Z,1628822777.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:17.202Z,1628822777.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:17.617Z,1628822777.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,002BD,187,80,80,64,FF
2021-08-13T02:46:17.617Z,1628822777.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:17.617Z,1628822777.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:17.619Z,1628822777.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:17.984Z,1628822777.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:18.417Z,1628822778.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,002C1,186,80,80,8B,FF
2021-08-13T02:46:18.418Z,1628822778.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:18.833Z,1628822778.833 [Micromodem](INFO): Nmea in: $SNTTA,0.006528,,,,024619.14*44

2021-08-13T02:46:21.265Z,1628822781.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:21.641Z,1628822781.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:21.641Z,1628822781.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:21.641Z,1628822781.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:21.642Z,1628822781.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:22.045Z,1628822782.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,002C1,186,80,80,8B,FF
2021-08-13T02:46:22.045Z,1628822782.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:22.046Z,1628822782.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:22.047Z,1628822782.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:22.460Z,1628822782.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:22.858Z,1628822782.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,002C2,186,80,80,78,FF
2021-08-13T02:46:22.858Z,1628822782.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:23.316Z,1628822783.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024623.57*5D

2021-08-13T02:46:25.744Z,1628822785.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:26.089Z,1628822786.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:26.089Z,1628822786.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:26.089Z,1628822786.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:26.090Z,1628822786.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:26.489Z,1628822786.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,002C2,186,80,80,78,FF
2021-08-13T02:46:26.489Z,1628822786.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:26.489Z,1628822786.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:26.491Z,1628822786.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:26.905Z,1628822786.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:27.295Z,1628822787.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,002C1,185,80,80,83,FF
2021-08-13T02:46:27.295Z,1628822787.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:27.729Z,1628822787.729 [Micromodem](INFO): Nmea in: $SNTTA,0.075588,,,,024628.01*4C

2021-08-13T02:46:29.948Z,1628822789.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:30.125Z,1628822790.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:30.125Z,1628822790.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:30.126Z,1628822790.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:30.126Z,1628822790.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:30.533Z,1628822790.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,002C1,185,80,80,83,FF
2021-08-13T02:46:30.534Z,1628822790.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:30.534Z,1628822790.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:30.535Z,1628822790.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:30.941Z,1628822790.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:31.341Z,1628822791.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,002C1,186,80,80,81,FF
2021-08-13T02:46:31.342Z,1628822791.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:31.758Z,1628822791.758 [Micromodem](INFO): Nmea in: $SNTTA,0.394531,0.395143,,,024632.06*59

2021-08-13T02:46:34.189Z,1628822794.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:34.581Z,1628822794.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:34.581Z,1628822794.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:34.581Z,1628822794.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:34.582Z,1628822794.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:34.977Z,1628822794.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,002C1,186,80,80,81,FF
2021-08-13T02:46:34.977Z,1628822794.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:34.977Z,1628822794.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:34.979Z,1628822794.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:35.405Z,1628822795.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:35.801Z,1628822795.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,002C1,189,80,80,8F,FF
2021-08-13T02:46:35.801Z,1628822795.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:35.805Z,1628822795.805 [Micromodem](INFO): Nmea in: $SNTTA,0.134156,0.211389,,,024636.50*5A

2021-08-13T02:46:38.634Z,1628822798.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:38.993Z,1628822798.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:38.993Z,1628822798.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:38.993Z,1628822798.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:38.994Z,1628822798.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:39.397Z,1628822799.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,002C1,189,80,80,8F,FF
2021-08-13T02:46:39.397Z,1628822799.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:39.398Z,1628822799.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:39.414Z,1628822799.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:39.913Z,1628822799.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:40.238Z,1628822800.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,002C2,186,80,80,81,FF
2021-08-13T02:46:40.239Z,1628822800.239 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:40.669Z,1628822800.669 [Micromodem](INFO): Nmea in: $SNTTA,0.043927,,,,024640.94*42

2021-08-13T02:46:43.089Z,1628822803.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:43.483Z,1628822803.483 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:43.484Z,1628822803.484 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:43.484Z,1628822803.484 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:43.485Z,1628822803.485 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:43.881Z,1628822803.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,002C2,186,80,80,81,FF
2021-08-13T02:46:43.882Z,1628822803.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:43.882Z,1628822803.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:43.885Z,1628822803.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:44.285Z,1628822804.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:44.680Z,1628822804.680 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,002C2,186,80,80,7E,FF
2021-08-13T02:46:44.681Z,1628822804.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:45.102Z,1628822805.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024645.41*5A

2021-08-13T02:46:47.569Z,1628822807.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:47.921Z,1628822807.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:47.921Z,1628822807.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:47.921Z,1628822807.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:47.922Z,1628822807.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:48.293Z,1628822808.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,002C2,186,80,80,7E,FF
2021-08-13T02:46:48.293Z,1628822808.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:48.293Z,1628822808.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:48.295Z,1628822808.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:48.717Z,1628822808.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:49.088Z,1628822809.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,002C1,186,80,80,81,FF
2021-08-13T02:46:49.089Z,1628822809.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:49.540Z,1628822809.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024649.82*59

2021-08-13T02:46:51.650Z,1628822811.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:51.948Z,1628822811.948 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:51.949Z,1628822811.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:51.949Z,1628822811.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:51.950Z,1628822811.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:52.349Z,1628822812.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,002C1,186,80,80,81,FF
2021-08-13T02:46:52.349Z,1628822812.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:52.349Z,1628822812.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:52.351Z,1628822812.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:52.787Z,1628822812.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:53.153Z,1628822813.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,002C1,189,80,80,80,FF
2021-08-13T02:46:53.154Z,1628822813.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:53.614Z,1628822813.614 [Micromodem](INFO): Nmea in: $SNTTA,0.005220,,,,024653.87*4C

2021-08-13T02:46:56.025Z,1628822816.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:46:56.389Z,1628822816.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:46:56.389Z,1628822816.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:46:56.389Z,1628822816.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:46:56.390Z,1628822816.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:46:56.817Z,1628822816.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,002C1,189,80,80,80,FF
2021-08-13T02:46:56.817Z,1628822816.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:46:56.817Z,1628822816.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:46:56.819Z,1628822816.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:46:57.200Z,1628822817.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:46:57.617Z,1628822817.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5F,000,002C1,186,80,80,85,FF
2021-08-13T02:46:57.617Z,1628822817.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:46:58.037Z,1628822818.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024658.34*54

2021-08-13T02:47:00.443Z,1628822820.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:00.833Z,1628822820.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:00.833Z,1628822820.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:00.833Z,1628822820.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:00.834Z,1628822820.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:01.393Z,1628822821.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5F,000,002C1,186,80,80,85,FF
2021-08-13T02:47:01.393Z,1628822821.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:01.393Z,1628822821.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:01.395Z,1628822821.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:01.674Z,1628822821.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:02.065Z,1628822822.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,002C1,186,80,80,8D,FF
2021-08-13T02:47:02.066Z,1628822822.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:02.879Z,1628822822.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024702.92*56

2021-08-13T02:47:04.929Z,1628822824.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:05.289Z,1628822825.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:05.289Z,1628822825.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:05.289Z,1628822825.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:05.290Z,1628822825.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:05.693Z,1628822825.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,002C1,186,80,80,8D,FF
2021-08-13T02:47:05.693Z,1628822825.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:05.693Z,1628822825.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:05.695Z,1628822825.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:06.096Z,1628822826.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:06.495Z,1628822826.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,002C0,187,80,80,81,FF
2021-08-13T02:47:06.495Z,1628822826.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:06.949Z,1628822826.949 [Micromodem](INFO): Nmea in: $SNTTA,0.040552,,,,024707.22*40

2021-08-13T02:47:09.325Z,1628822829.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:09.705Z,1628822829.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:09.705Z,1628822829.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:09.705Z,1628822829.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:09.706Z,1628822829.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:10.213Z,1628822830.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,002C0,187,80,80,81,FF
2021-08-13T02:47:10.214Z,1628822830.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:10.214Z,1628822830.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:10.216Z,1628822830.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:10.548Z,1628822830.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:10.945Z,1628822830.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA0,000,002C2,186,80,80,84,FF
2021-08-13T02:47:10.945Z,1628822830.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:11.780Z,1628822831.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024711.74*5C

2021-08-13T02:47:13.878Z,1628822833.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:14.177Z,1628822834.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:14.177Z,1628822834.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:14.177Z,1628822834.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:14.178Z,1628822834.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:14.581Z,1628822834.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA0,000,002C2,186,80,80,84,FF
2021-08-13T02:47:14.581Z,1628822834.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:14.581Z,1628822834.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:14.583Z,1628822834.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:14.996Z,1628822834.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:15.401Z,1628822835.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,002C2,185,80,80,87,FF
2021-08-13T02:47:15.401Z,1628822835.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:15.837Z,1628822835.837 [Micromodem](INFO): Nmea in: $SNTTA,0.370286,,,,024716.10*4F

2021-08-13T02:47:18.283Z,1628822838.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:18.605Z,1628822838.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:18.605Z,1628822838.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:18.606Z,1628822838.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:18.607Z,1628822838.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:19.029Z,1628822839.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,002C2,185,80,80,87,FF
2021-08-13T02:47:19.029Z,1628822839.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:19.029Z,1628822839.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:19.031Z,1628822839.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:19.404Z,1628822839.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:19.805Z,1628822839.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,002C1,187,80,80,75,FF
2021-08-13T02:47:19.806Z,1628822839.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:20.433Z,1628822840.433 [Micromodem](INFO): Nmea in: $SNTTA,0.016490,,,,024720.55*49

2021-08-13T02:47:22.680Z,1628822842.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:23.077Z,1628822843.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:23.077Z,1628822843.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:23.078Z,1628822843.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:23.079Z,1628822843.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:23.481Z,1628822843.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,002C1,187,80,80,75,FF
2021-08-13T02:47:23.481Z,1628822843.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:23.482Z,1628822843.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:23.483Z,1628822843.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:23.883Z,1628822843.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:24.285Z,1628822844.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,002BC,187,80,80,5F,FF
2021-08-13T02:47:24.285Z,1628822844.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:24.717Z,1628822844.717 [Micromodem](INFO): Nmea in: $SNTTA,,0.027394,,,024725.01*4C

2021-08-13T02:47:27.133Z,1628822847.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:27.528Z,1628822847.528 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:27.528Z,1628822847.528 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:27.529Z,1628822847.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:27.530Z,1628822847.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:27.921Z,1628822847.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,002BC,187,80,80,5F,FF
2021-08-13T02:47:27.921Z,1628822847.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:27.921Z,1628822847.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:27.923Z,1628822847.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:28.321Z,1628822848.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:28.697Z,1628822848.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,002,000,002BB,182,80,80,58,FF
2021-08-13T02:47:28.697Z,1628822848.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:29.165Z,1628822849.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024729.45*55

2021-08-13T02:47:31.646Z,1628822851.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:31.961Z,1628822851.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:31.961Z,1628822851.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:31.961Z,1628822851.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:31.962Z,1628822851.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:32.358Z,1628822852.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
002,000,002BB,182,80,80,58,FF
2021-08-13T02:47:32.358Z,1628822852.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:32.358Z,1628822852.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:32.360Z,1628822852.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:32.833Z,1628822852.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:33.178Z,1628822853.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,002C1,186,80,80,86,FF
2021-08-13T02:47:33.178Z,1628822853.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:33.621Z,1628822853.621 [Micromodem](INFO): Nmea in: $SNTTA,0.066736,,,,024733.88*43

2021-08-13T02:47:36.026Z,1628822856.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:36.417Z,1628822856.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:36.417Z,1628822856.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:36.417Z,1628822856.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:36.418Z,1628822856.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:36.833Z,1628822856.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,002C1,186,80,80,86,FF
2021-08-13T02:47:36.833Z,1628822856.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:36.833Z,1628822856.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:36.834Z,1628822856.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:37.228Z,1628822857.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:37.633Z,1628822857.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,002C0,186,80,80,80,FF
2021-08-13T02:47:37.634Z,1628822857.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:37.637Z,1628822857.637 [Micromodem](INFO): Nmea in: $SNTTA,0.283617,0.283792,,,024738.36*5D

2021-08-13T02:47:40.546Z,1628822860.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:40.855Z,1628822860.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:40.855Z,1628822860.855 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:40.856Z,1628822860.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:40.857Z,1628822860.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:41.254Z,1628822861.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,002C0,186,80,80,80,FF
2021-08-13T02:47:41.254Z,1628822861.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:41.254Z,1628822861.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:41.256Z,1628822861.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:41.661Z,1628822861.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:42.106Z,1628822862.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,002BD,187,80,80,6C,FF
2021-08-13T02:47:42.107Z,1628822862.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:42.497Z,1628822862.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024742.78*56

2021-08-13T02:47:44.927Z,1628822864.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:45.298Z,1628822865.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:45.298Z,1628822865.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:45.298Z,1628822865.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:45.299Z,1628822865.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:45.697Z,1628822865.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,002BD,187,80,80,6C,FF
2021-08-13T02:47:45.697Z,1628822865.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:45.697Z,1628822865.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:45.699Z,1628822865.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:46.126Z,1628822866.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:46.505Z,1628822866.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,002C0,186,80,80,8E,FF
2021-08-13T02:47:46.506Z,1628822866.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:46.953Z,1628822866.953 [Micromodem](INFO): Nmea in: $SNTTA,0.006726,,,,024747.22*47

2021-08-13T02:47:49.380Z,1628822869.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:49.705Z,1628822869.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:49.705Z,1628822869.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:49.705Z,1628822869.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:49.706Z,1628822869.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:50.117Z,1628822870.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,002C0,186,80,80,8E,FF
2021-08-13T02:47:50.117Z,1628822870.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:50.117Z,1628822870.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:50.119Z,1628822870.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:50.625Z,1628822870.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:50.957Z,1628822870.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,002C0,185,80,80,88,FF
2021-08-13T02:47:50.958Z,1628822870.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:51.385Z,1628822871.385 [Micromodem](INFO): Nmea in: $SNTTA,0.021872,,,,024751.64*49

2021-08-13T02:47:52.611Z,1628822872.611 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-13T02:47:52.611Z,1628822872.611 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:47:52.632Z,1628822872.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-13T02:47:52.632Z,1628822872.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:47:52.633Z,1628822872.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-13T02:47:52.633Z,1628822872.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-13T02:47:52.633Z,1628822872.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-13T02:47:52.634Z,1628822872.634 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-13T02:47:52.634Z,1628822872.634 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210813T024753: (41.552319, -70.708603)
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-13T02:47:53.022Z,1628822873.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-13T02:47:53.023Z,1628822873.023 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-13T02:47:53.023Z,1628822873.023 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-13T02:47:53.023Z,1628822873.023 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-13T02:47:53.868Z,1628822873.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:54.181Z,1628822874.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:54.181Z,1628822874.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:54.181Z,1628822874.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:54.182Z,1628822874.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:54.581Z,1628822874.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,002C0,185,80,80,88,FF
2021-08-13T02:47:54.581Z,1628822874.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:54.581Z,1628822874.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:54.583Z,1628822874.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:54.997Z,1628822874.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:55.397Z,1628822875.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,002C1,185,80,80,70,FF
2021-08-13T02:47:55.398Z,1628822875.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:55.835Z,1628822875.835 [Micromodem](INFO): Nmea in: $SNTTA,0.006580,0.370891,,,024756.11*53

2021-08-13T02:47:58.248Z,1628822878.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:47:58.633Z,1628822878.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:47:58.633Z,1628822878.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:47:58.633Z,1628822878.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:47:58.634Z,1628822878.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:47:59.009Z,1628822879.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,002C1,185,80,80,70,FF
2021-08-13T02:47:59.009Z,1628822879.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:47:59.009Z,1628822879.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:47:59.011Z,1628822879.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:47:59.445Z,1628822879.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:47:59.813Z,1628822879.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,002C0,186,80,80,7F,FF
2021-08-13T02:47:59.814Z,1628822879.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:47:59.817Z,1628822879.817 [Micromodem](INFO): Nmea in: $SNTTA,0.196483,0.196277,,,024800.53*5B

2021-08-13T02:48:02.687Z,1628822882.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:03.081Z,1628822883.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:03.081Z,1628822883.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:03.081Z,1628822883.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:03.082Z,1628822883.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:03.473Z,1628822883.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,002C0,186,80,80,7F,FF
2021-08-13T02:48:03.473Z,1628822883.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:03.474Z,1628822883.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:03.479Z,1628822883.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:03.889Z,1628822883.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:04.288Z,1628822884.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,002C2,186,80,80,7D,FF
2021-08-13T02:48:04.289Z,1628822884.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:04.745Z,1628822884.745 [Micromodem](INFO): Nmea in: $SNTTA,0.047484,,,,024805.00*40

2021-08-13T02:48:07.146Z,1628822887.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:07.548Z,1628822887.548 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:07.548Z,1628822887.548 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:07.549Z,1628822887.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:07.550Z,1628822887.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:07.925Z,1628822887.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,002C2,186,80,80,7D,FF
2021-08-13T02:48:07.925Z,1628822887.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:07.925Z,1628822887.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:07.927Z,1628822887.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:08.329Z,1628822888.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:08.765Z,1628822888.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,002C1,188,80,80,88,FF
2021-08-13T02:48:08.766Z,1628822888.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:09.137Z,1628822889.137 [Micromodem](INFO): Nmea in: $SNTTA,0.026189,,,,024809.45*42

2021-08-13T02:48:11.634Z,1628822891.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:11.969Z,1628822891.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:11.969Z,1628822891.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:11.970Z,1628822891.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:11.970Z,1628822891.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:12.369Z,1628822892.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,002C1,188,80,80,88,FF
2021-08-13T02:48:12.369Z,1628822892.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:12.369Z,1628822892.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:12.371Z,1628822892.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:12.796Z,1628822892.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:13.614Z,1628822893.614 [Micromodem](INFO): Nmea in: $SNTTA,0.475860,,,,024813.89*45

2021-08-13T02:48:14.410Z,1628822894.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:16.005Z,1628822896.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,188,80,80,88,FF
2021-08-13T02:48:16.006Z,1628822896.006 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,188,80,80,88,FF
2021-08-13T02:48:16.006Z,1628822896.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:48:17.238Z,1628822897.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:17.626Z,1628822897.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:17.626Z,1628822897.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:17.626Z,1628822897.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:17.627Z,1628822897.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:18.021Z,1628822898.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,188,80,80,88,FF
2021-08-13T02:48:18.021Z,1628822898.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:18.022Z,1628822898.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:18.023Z,1628822898.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:18.424Z,1628822898.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:18.841Z,1628822898.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,002C1,187,80,80,8D,FF
2021-08-13T02:48:18.841Z,1628822898.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:19.237Z,1628822899.237 [Micromodem](INFO): Nmea in: $SNTTA,0.038375,,,,024819.55*4C

2021-08-13T02:48:21.694Z,1628822901.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:22.065Z,1628822902.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:22.066Z,1628822902.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:22.067Z,1628822902.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:22.081Z,1628822902.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:22.466Z,1628822902.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,002C1,187,80,80,8D,FF
2021-08-13T02:48:22.466Z,1628822902.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:22.466Z,1628822902.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:22.468Z,1628822902.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:22.890Z,1628822902.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:23.288Z,1628822903.288 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D55,000,002C1,189,80,80,83,FF
2021-08-13T02:48:23.289Z,1628822903.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:23.710Z,1628822903.710 [Micromodem](INFO): Nmea in: $SNTTA,0.021479,,,,024823.99*46

2021-08-13T02:48:26.129Z,1628822906.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:26.505Z,1628822906.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:26.505Z,1628822906.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:26.506Z,1628822906.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:26.507Z,1628822906.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:26.913Z,1628822906.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D55,000,002C1,189,80,80,83,FF
2021-08-13T02:48:26.914Z,1628822906.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:26.914Z,1628822906.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:26.916Z,1628822906.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:27.316Z,1628822907.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:27.721Z,1628822907.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,002C1,187,80,80,7E,FF
2021-08-13T02:48:27.722Z,1628822907.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:28.145Z,1628822908.145 [Micromodem](INFO): Nmea in: $SNTTA,0.006738,,,,024828.44*4E

2021-08-13T02:48:30.528Z,1628822910.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:31.021Z,1628822911.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:31.021Z,1628822911.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:31.021Z,1628822911.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:31.022Z,1628822911.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:31.355Z,1628822911.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,002C1,187,80,80,7E,FF
2021-08-13T02:48:31.356Z,1628822911.356 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:31.356Z,1628822911.356 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:31.358Z,1628822911.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:31.776Z,1628822911.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:32.165Z,1628822912.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,002C1,185,80,80,91,FF
2021-08-13T02:48:32.165Z,1628822912.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:32.609Z,1628822912.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024832.88*51

2021-08-13T02:48:35.033Z,1628822915.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:35.397Z,1628822915.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:35.397Z,1628822915.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:35.397Z,1628822915.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:35.398Z,1628822915.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:35.838Z,1628822915.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,002C1,185,80,80,91,FF
2021-08-13T02:48:35.839Z,1628822915.839 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:35.839Z,1628822915.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:35.841Z,1628822915.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:36.349Z,1628822916.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:36.677Z,1628822916.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,002C0,187,80,80,78,FF
2021-08-13T02:48:36.678Z,1628822916.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:37.113Z,1628822917.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024837.36*51

2021-08-13T02:48:39.490Z,1628822919.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:39.921Z,1628822919.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:39.921Z,1628822919.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:39.921Z,1628822919.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:39.922Z,1628822919.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:40.285Z,1628822920.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,002C0,187,80,80,78,FF
2021-08-13T02:48:40.285Z,1628822920.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:40.285Z,1628822920.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:40.287Z,1628822920.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:40.689Z,1628822920.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:41.194Z,1628822921.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,002C0,188,80,80,86,FF
2021-08-13T02:48:41.194Z,1628822921.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:41.581Z,1628822921.581 [Micromodem](INFO): Nmea in: $SNTTA,0.213397,,,,024841.81*4F

2021-08-13T02:48:43.979Z,1628822923.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:44.353Z,1628822924.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:44.354Z,1628822924.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:44.354Z,1628822924.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:44.355Z,1628822924.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:44.776Z,1628822924.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,002C0,188,80,80,86,FF
2021-08-13T02:48:44.776Z,1628822924.776 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:44.776Z,1628822924.776 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:44.778Z,1628822924.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:45.175Z,1628822925.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:45.597Z,1628822925.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,002C1,186,80,80,88,FF
2021-08-13T02:48:45.597Z,1628822925.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:45.985Z,1628822925.985 [Micromodem](INFO): Nmea in: $SNTTA,0.005179,,,,024846.30*45

2021-08-13T02:48:48.416Z,1628822928.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:48.825Z,1628822928.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:48.826Z,1628822928.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:48.826Z,1628822928.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:48.827Z,1628822928.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:49.205Z,1628822929.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,002C1,186,80,80,88,FF
2021-08-13T02:48:49.205Z,1628822929.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:49.206Z,1628822929.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:49.207Z,1628822929.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:49.589Z,1628822929.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:50.018Z,1628822930.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,002C1,186,80,80,7D,FF
2021-08-13T02:48:50.018Z,1628822930.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:50.421Z,1628822930.421 [Micromodem](INFO): Nmea in: $SNTTA,0.028665,,,,024850.73*40

2021-08-13T02:48:52.902Z,1628822932.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:53.249Z,1628822933.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:53.249Z,1628822933.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:53.249Z,1628822933.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:53.250Z,1628822933.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:53.654Z,1628822933.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,002C1,186,80,80,7D,FF
2021-08-13T02:48:53.654Z,1628822933.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:53.654Z,1628822933.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:53.657Z,1628822933.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:54.061Z,1628822934.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:54.465Z,1628822934.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,002C1,186,80,80,84,FF
2021-08-13T02:48:54.466Z,1628822934.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:54.895Z,1628822934.895 [Micromodem](INFO): Nmea in: $SNTTA,0.029375,,,,024855.18*4D

2021-08-13T02:48:57.302Z,1628822937.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:48:57.685Z,1628822937.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:48:57.685Z,1628822937.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:48:57.685Z,1628822937.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:48:57.686Z,1628822937.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:48:58.089Z,1628822938.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,002C1,186,80,80,84,FF
2021-08-13T02:48:58.089Z,1628822938.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:48:58.089Z,1628822938.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:48:58.091Z,1628822938.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:48:58.498Z,1628822938.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:48:58.909Z,1628822938.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,002C2,186,80,80,77,FF
2021-08-13T02:48:58.909Z,1628822938.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:48:59.334Z,1628822939.334 [Micromodem](INFO): Nmea in: $SNTTA,0.005669,,,,024859.61*49

2021-08-13T02:49:01.825Z,1628822941.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:02.165Z,1628822942.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:02.165Z,1628822942.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:02.165Z,1628822942.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:02.166Z,1628822942.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:02.543Z,1628822942.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,002C2,186,80,80,77,FF
2021-08-13T02:49:02.543Z,1628822942.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:02.543Z,1628822942.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:02.546Z,1628822942.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:02.945Z,1628822942.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:03.341Z,1628822943.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,002C0,186,80,80,93,FF
2021-08-13T02:49:03.341Z,1628822943.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:03.780Z,1628822943.780 [Micromodem](INFO): Nmea in: $SNTTA,0.005203,0.361120,,,024904.07*51

2021-08-13T02:49:06.190Z,1628822946.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:06.573Z,1628822946.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:06.573Z,1628822946.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:06.573Z,1628822946.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:06.574Z,1628822946.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:06.977Z,1628822946.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,002C0,186,80,80,93,FF
2021-08-13T02:49:06.977Z,1628822946.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:06.977Z,1628822946.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:06.979Z,1628822946.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:07.390Z,1628822947.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:07.821Z,1628822947.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,002BC,186,80,80,60,FF
2021-08-13T02:49:07.821Z,1628822947.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:08.229Z,1628822948.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024908.50*5C

2021-08-13T02:49:10.594Z,1628822950.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:10.986Z,1628822950.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:10.986Z,1628822950.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:10.986Z,1628822950.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:10.987Z,1628822950.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:11.505Z,1628822951.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,002BC,186,80,80,60,FF
2021-08-13T02:49:11.506Z,1628822951.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:11.507Z,1628822951.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:11.515Z,1628822951.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:11.843Z,1628822951.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:12.237Z,1628822952.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,002C0,186,80,80,82,FF
2021-08-13T02:49:12.237Z,1628822952.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:13.055Z,1628822953.055 [Micromodem](INFO): Nmea in: $SNTTA,0.179111,,,,024913.04*47

2021-08-13T02:49:15.105Z,1628822955.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:15.461Z,1628822955.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:15.461Z,1628822955.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:15.461Z,1628822955.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:15.462Z,1628822955.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:15.874Z,1628822955.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,002C0,186,80,80,82,FF
2021-08-13T02:49:15.874Z,1628822955.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:15.874Z,1628822955.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:15.880Z,1628822955.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:16.273Z,1628822956.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:16.685Z,1628822956.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,002BF,186,80,80,77,FF
2021-08-13T02:49:16.685Z,1628822956.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:17.123Z,1628822957.123 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024917.40*53

2021-08-13T02:49:19.567Z,1628822959.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:19.880Z,1628822959.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:19.880Z,1628822959.880 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:19.880Z,1628822959.880 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:19.881Z,1628822959.881 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:20.309Z,1628822960.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,002BF,186,80,80,77,FF
2021-08-13T02:49:20.309Z,1628822960.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:20.309Z,1628822960.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:20.311Z,1628822960.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:20.697Z,1628822960.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:21.085Z,1628822961.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,002BF,186,80,80,83,FF
2021-08-13T02:49:21.085Z,1628822961.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:21.637Z,1628822961.637 [Micromodem](INFO): Nmea in: $SNTTA,0.021390,,,,024921.83*4E

2021-08-13T02:49:23.987Z,1628822963.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:24.349Z,1628822964.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:24.349Z,1628822964.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:24.349Z,1628822964.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:24.350Z,1628822964.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:24.773Z,1628822964.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,002BF,186,80,80,83,FF
2021-08-13T02:49:24.773Z,1628822964.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:24.773Z,1628822964.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:24.775Z,1628822964.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:25.169Z,1628822965.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:25.601Z,1628822965.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,002BF,186,80,80,81,FF
2021-08-13T02:49:25.601Z,1628822965.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:25.604Z,1628822965.604 [Micromodem](INFO): Nmea in: $SNTTA,0.024746,0.274483,,,024926.30*5B

2021-08-13T02:49:28.454Z,1628822968.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:28.848Z,1628822968.848 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:28.848Z,1628822968.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:28.848Z,1628822968.848 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:28.850Z,1628822968.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:29.225Z,1628822969.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,002BF,186,80,80,81,FF
2021-08-13T02:49:29.225Z,1628822969.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:29.225Z,1628822969.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:29.227Z,1628822969.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:29.624Z,1628822969.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:29.983Z,1628822969.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,002C0,186,80,80,8C,FF
2021-08-13T02:49:29.983Z,1628822969.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:30.427Z,1628822970.427 [Micromodem](INFO): Nmea in: $SNTTA,0.025310,,,,024930.75*4B

2021-08-13T02:49:32.898Z,1628822972.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:33.241Z,1628822973.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:33.241Z,1628822973.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:33.241Z,1628822973.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:33.242Z,1628822973.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:33.645Z,1628822973.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,002C0,186,80,80,8C,FF
2021-08-13T02:49:33.645Z,1628822973.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:33.645Z,1628822973.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:33.647Z,1628822973.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:34.056Z,1628822974.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:34.453Z,1628822974.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,002BF,186,80,80,86,FF
2021-08-13T02:49:34.453Z,1628822974.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:34.889Z,1628822974.889 [Micromodem](INFO): Nmea in: $SNTTA,,0.487283,,,024935.17*4D

2021-08-13T02:49:37.295Z,1628822977.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:37.685Z,1628822977.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:37.685Z,1628822977.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:37.685Z,1628822977.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:37.686Z,1628822977.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:38.094Z,1628822978.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,002BF,186,80,80,86,FF
2021-08-13T02:49:38.094Z,1628822978.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:38.094Z,1628822978.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:38.096Z,1628822978.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:38.493Z,1628822978.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:38.897Z,1628822978.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,002C0,186,80,80,8B,FF
2021-08-13T02:49:38.898Z,1628822978.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:39.345Z,1628822979.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024939.62*5F

2021-08-13T02:49:41.878Z,1628822981.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:42.237Z,1628822982.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:42.237Z,1628822982.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:42.237Z,1628822982.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:42.238Z,1628822982.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:42.553Z,1628822982.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,002C0,186,80,80,8B,FF
2021-08-13T02:49:42.553Z,1628822982.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:42.553Z,1628822982.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:42.555Z,1628822982.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:42.949Z,1628822982.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:43.350Z,1628822983.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,002BF,185,80,80,86,FF
2021-08-13T02:49:43.350Z,1628822983.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:43.781Z,1628822983.781 [Micromodem](INFO): Nmea in: $SNTTA,0.018580,,,,024944.08*43

2021-08-13T02:49:46.183Z,1628822986.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:46.573Z,1628822986.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:46.573Z,1628822986.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:46.573Z,1628822986.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:46.574Z,1628822986.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:46.982Z,1628822986.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,002BF,185,80,80,86,FF
2021-08-13T02:49:46.982Z,1628822986.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:46.982Z,1628822986.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:46.983Z,1628822986.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:47.388Z,1628822987.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:47.821Z,1628822987.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,002BE,189,80,80,8C,FF
2021-08-13T02:49:47.821Z,1628822987.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:48.229Z,1628822988.229 [Micromodem](INFO): Nmea in: $SNTTA,0.041345,,,,024948.50*41

2021-08-13T02:49:50.631Z,1628822990.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:50.989Z,1628822990.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:50.989Z,1628822990.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:50.989Z,1628822990.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:50.990Z,1628822990.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:51.394Z,1628822991.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,002BE,189,80,80,8C,FF
2021-08-13T02:49:51.394Z,1628822991.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:51.394Z,1628822991.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:51.397Z,1628822991.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:51.911Z,1628822991.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:52.642Z,1628822992.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024952.92*5D

2021-08-13T02:49:53.454Z,1628822993.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:55.125Z,1628822995.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,8C,FF
2021-08-13T02:49:55.125Z,1628822995.125 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,8C,FF
2021-08-13T02:49:55.125Z,1628822995.125 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:49:55.660Z,1628822995.660 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-13T02:44:55.2Z
2021-08-13T02:49:55.660Z,1628822995.660 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-13T02:49:55.661Z,1628822995.661 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-13T02:49:55.661Z,1628822995.661 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T02:49:55.661Z,1628822995.661 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-13T02:49:55.910Z,1628822995.910 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.619999 m .
2021-08-13T02:49:55.911Z,1628822995.911 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-13T02:49:55.911Z,1628822995.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-13T02:49:55.911Z,1628822995.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-13T02:49:55.911Z,1628822995.911 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:49:56.322Z,1628822996.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:49:56.663Z,1628822996.663 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:49:56.663Z,1628822996.663 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:49:56.663Z,1628822996.663 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:49:56.664Z,1628822996.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:49:56.674Z,1628822996.674 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:49:57.044Z,1628822997.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,8C,FF
2021-08-13T02:49:57.044Z,1628822997.044 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:49:57.044Z,1628822997.044 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:49:57.048Z,1628822997.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:49:57.562Z,1628822997.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:49:57.893Z,1628822997.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,002BF,185,80,80,86,FF
2021-08-13T02:49:57.894Z,1628822997.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:49:58.309Z,1628822998.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,024958.57*5E

2021-08-13T02:49:59.591Z,1628822999.591 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-13T02:49:59.963Z,1628822999.963 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T02:50:00.753Z,1628823000.753 [ElevatorOffsetCalculator](IMPORTANT): Completed estimation for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm. Average elevator angle=0.013418 +/- 0.004856 deg (conf. level 99.90%, sigma: 0.004831 deg).
2021-08-13T02:50:00.798Z,1628823000.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:01.115Z,1628823001.115 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:01.115Z,1628823001.115 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:01.117Z,1628823001.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:01.118Z,1628823001.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:01.537Z,1628823001.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,002BF,185,80,80,86,FF
2021-08-13T02:50:01.538Z,1628823001.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:01.538Z,1628823001.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:01.553Z,1628823001.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:01.953Z,1628823001.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:02.325Z,1628823002.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,002BB,187,80,80,4B,FF
2021-08-13T02:50:02.325Z,1628823002.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:02.757Z,1628823002.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025003.08*52

2021-08-13T02:50:05.193Z,1628823005.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:05.597Z,1628823005.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:05.597Z,1628823005.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:05.597Z,1628823005.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:05.598Z,1628823005.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:05.961Z,1628823005.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,002BB,187,80,80,4B,FF
2021-08-13T02:50:05.961Z,1628823005.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:05.961Z,1628823005.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:05.963Z,1628823005.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:06.381Z,1628823006.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:06.854Z,1628823006.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002B9,185,80,80,6E,FF
2021-08-13T02:50:06.855Z,1628823006.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:07.239Z,1628823007.239 [Micromodem](INFO): Nmea in: $SNTTA,0.024490,,,,025007.49*46

2021-08-13T02:50:09.573Z,1628823009.573 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-13T02:50:09.688Z,1628823009.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:10.021Z,1628823010.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:10.021Z,1628823010.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:10.021Z,1628823010.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:10.022Z,1628823010.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:10.115Z,1628823010.115 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-13T02:50:10.421Z,1628823010.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,002B9,185,80,80,6E,FF
2021-08-13T02:50:10.421Z,1628823010.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:10.422Z,1628823010.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:10.423Z,1628823010.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:10.837Z,1628823010.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:11.213Z,1628823011.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,002C0,184,80,80,B9,FF
2021-08-13T02:50:11.213Z,1628823011.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:11.653Z,1628823011.653 [Micromodem](INFO): Nmea in: $SNTTA,0.044058,,,,025011.94*47

2021-08-13T02:50:13.775Z,1628823013.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:14.045Z,1628823014.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:14.045Z,1628823014.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:14.045Z,1628823014.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:14.046Z,1628823014.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:14.449Z,1628823014.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,002C0,184,80,80,B9,FF
2021-08-13T02:50:14.449Z,1628823014.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:14.449Z,1628823014.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:14.451Z,1628823014.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:14.861Z,1628823014.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:15.253Z,1628823015.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,002CB,187,80,80,B2,FF
2021-08-13T02:50:15.254Z,1628823015.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:15.701Z,1628823015.701 [Micromodem](INFO): Nmea in: $SNTTA,0.037022,,,,025015.97*49

2021-08-13T02:50:18.106Z,1628823018.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:18.489Z,1628823018.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:18.490Z,1628823018.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:18.490Z,1628823018.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:18.491Z,1628823018.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:18.898Z,1628823018.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,002CB,187,80,80,B2,FF
2021-08-13T02:50:18.898Z,1628823018.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:18.898Z,1628823018.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:18.900Z,1628823018.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:19.319Z,1628823019.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:19.701Z,1628823019.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002D9,187,80,80,C9,FF
2021-08-13T02:50:19.701Z,1628823019.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:20.142Z,1628823020.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025020.42*5D

2021-08-13T02:50:22.579Z,1628823022.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:23.008Z,1628823023.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:23.008Z,1628823023.008 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:23.009Z,1628823023.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:23.009Z,1628823023.009 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:23.354Z,1628823023.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002D9,187,80,80,C9,FF
2021-08-13T02:50:23.354Z,1628823023.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:23.354Z,1628823023.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:23.356Z,1628823023.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:23.786Z,1628823023.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:24.153Z,1628823024.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,002E4,186,80,80,C2,FF
2021-08-13T02:50:24.153Z,1628823024.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:24.565Z,1628823024.565 [Micromodem](INFO): Nmea in: $SNTTA,0.028122,,,,025024.88*4A

2021-08-13T02:50:26.696Z,1628823026.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:26.969Z,1628823026.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:26.969Z,1628823026.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:26.969Z,1628823026.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:26.970Z,1628823026.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:27.377Z,1628823027.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,002E4,186,80,80,C2,FF
2021-08-13T02:50:27.377Z,1628823027.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:27.378Z,1628823027.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:27.379Z,1628823027.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:27.801Z,1628823027.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:28.189Z,1628823028.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,002EF,184,80,80,B5,FF
2021-08-13T02:50:28.189Z,1628823028.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:28.633Z,1628823028.633 [Micromodem](INFO): Nmea in: $SNTTA,0.036152,,,,025028.90*47

2021-08-13T02:50:31.042Z,1628823031.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:31.421Z,1628823031.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:31.421Z,1628823031.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:31.421Z,1628823031.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:31.422Z,1628823031.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:31.829Z,1628823031.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,002EF,184,80,80,B5,FF
2021-08-13T02:50:31.829Z,1628823031.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:31.829Z,1628823031.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:31.831Z,1628823031.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:32.244Z,1628823032.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:32.633Z,1628823032.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,002FA,187,80,80,BA,FF
2021-08-13T02:50:32.633Z,1628823032.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:33.070Z,1628823033.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025033.35*5F

2021-08-13T02:50:35.491Z,1628823035.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:35.936Z,1628823035.936 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:35.936Z,1628823035.936 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:35.936Z,1628823035.936 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:35.937Z,1628823035.937 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:36.293Z,1628823036.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,002FA,187,80,80,BA,FF
2021-08-13T02:50:36.293Z,1628823036.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:36.294Z,1628823036.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:36.295Z,1628823036.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:36.744Z,1628823036.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:37.105Z,1628823037.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,0030A,187,80,80,BB,FF
2021-08-13T02:50:37.105Z,1628823037.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:37.521Z,1628823037.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025037.84*51

2021-08-13T02:50:39.955Z,1628823039.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:40.301Z,1628823040.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:40.301Z,1628823040.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:40.301Z,1628823040.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:40.302Z,1628823040.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:40.701Z,1628823040.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,0030A,187,80,80,BB,FF
2021-08-13T02:50:40.701Z,1628823040.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:40.702Z,1628823040.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:40.703Z,1628823040.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:41.109Z,1628823041.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:41.529Z,1628823041.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00317,186,80,80,9E,FF
2021-08-13T02:50:41.530Z,1628823041.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:41.958Z,1628823041.958 [Micromodem](INFO): Nmea in: $SNTTA,0.024346,,,,025042.23*47

2021-08-13T02:50:43.956Z,1628823043.956 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T02:50:44.364Z,1628823044.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:44.752Z,1628823044.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:44.753Z,1628823044.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:44.753Z,1628823044.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:44.754Z,1628823044.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:45.153Z,1628823045.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00317,186,80,80,9E,FF
2021-08-13T02:50:45.153Z,1628823045.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:45.153Z,1628823045.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:45.155Z,1628823045.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:45.597Z,1628823045.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:45.965Z,1628823045.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00325,186,80,80,9F,FF
2021-08-13T02:50:45.965Z,1628823045.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:46.409Z,1628823046.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025046.68*55

2021-08-13T02:50:46.429Z,1628823046.429 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T02:50:48.860Z,1628823048.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:49.269Z,1628823049.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:49.269Z,1628823049.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:49.269Z,1628823049.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:49.270Z,1628823049.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:49.613Z,1628823049.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00325,186,80,80,9F,FF
2021-08-13T02:50:49.613Z,1628823049.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:49.613Z,1628823049.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:49.615Z,1628823049.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:50.097Z,1628823050.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:50.415Z,1628823050.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F99,000,00334,187,80,80,8E,FF
2021-08-13T02:50:50.415Z,1628823050.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:50.882Z,1628823050.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025051.14*58

2021-08-13T02:50:53.264Z,1628823053.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:53.633Z,1628823053.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:53.633Z,1628823053.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:53.633Z,1628823053.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:53.634Z,1628823053.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:54.053Z,1628823054.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F99,000,00334,187,80,80,8E,FF
2021-08-13T02:50:54.054Z,1628823054.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:54.054Z,1628823054.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:54.057Z,1628823054.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:54.441Z,1628823054.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:54.850Z,1628823054.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,0033D,184,80,80,A1,FF
2021-08-13T02:50:54.851Z,1628823054.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:50:55.269Z,1628823055.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025055.58*54

2021-08-13T02:50:57.719Z,1628823057.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:50:58.077Z,1628823058.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:50:58.078Z,1628823058.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:50:58.078Z,1628823058.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:50:58.079Z,1628823058.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:50:58.481Z,1628823058.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,0033D,184,80,80,A1,FF
2021-08-13T02:50:58.481Z,1628823058.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:50:58.481Z,1628823058.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:50:58.483Z,1628823058.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:50:58.903Z,1628823058.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:50:59.695Z,1628823059.695 [Micromodem](INFO): Nmea in: $SNTTA,0.461327,0.460396,,,025100.00*53

2021-08-13T02:51:00.544Z,1628823060.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:02.121Z,1628823062.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,184,80,80,A1,FF
2021-08-13T02:51:02.121Z,1628823062.121 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,184,80,80,A1,FF
2021-08-13T02:51:02.121Z,1628823062.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:51:03.114Z,1628823063.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:03.361Z,1628823063.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:03.361Z,1628823063.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:03.361Z,1628823063.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:03.362Z,1628823063.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:03.769Z,1628823063.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,184,80,80,A1,FF
2021-08-13T02:51:03.769Z,1628823063.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:03.770Z,1628823063.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:03.810Z,1628823063.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:04.168Z,1628823064.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:04.557Z,1628823064.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0034E,183,80,80,B2,FF
2021-08-13T02:51:04.557Z,1628823064.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:05.365Z,1628823065.365 [Micromodem](INFO): Nmea in: $SNTTA,0.054530,,,,025105.33*44

2021-08-13T02:51:06.605Z,1628823066.605 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 13.26 m. Transitioning DDM to standby.
2021-08-13T02:51:07.383Z,1628823067.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:07.800Z,1628823067.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:07.800Z,1628823067.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:07.801Z,1628823067.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:07.801Z,1628823067.801 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:08.181Z,1628823068.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0034E,183,80,80,B2,FF
2021-08-13T02:51:08.181Z,1628823068.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:08.181Z,1628823068.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:08.183Z,1628823068.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:08.593Z,1628823068.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:09.009Z,1628823069.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00357,183,80,80,C5,FF
2021-08-13T02:51:09.010Z,1628823069.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:09.035Z,1628823069.035 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-13T02:51:09.422Z,1628823069.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025109.71*57

2021-08-13T02:51:09.435Z,1628823069.435 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T02:51:09.435Z,1628823069.435 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-13T02:51:09.435Z,1628823069.435 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-13T02:51:09.436Z,1628823069.436 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-13T02:51:09.436Z,1628823069.436 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-13T02:51:09.436Z,1628823069.436 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-13T02:51:09.436Z,1628823069.436 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-13T02:51:09.436Z,1628823069.436 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap] Stopped
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap] Running Loop=2
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-13T02:51:09.437Z,1628823069.437 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-13T02:51:09.882Z,1628823069.882 [lineCaptureDepth:Lap:A] Stopped
2021-08-13T02:51:09.882Z,1628823069.882 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-13T02:51:09.883Z,1628823069.883 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-13T02:51:10.233Z,1628823070.233 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T02:51:10.234Z,1628823070.234 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T02:51:10.235Z,1628823070.235 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T02:51:10.236Z,1628823070.236 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T02:51:10.237Z,1628823070.237 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T02:51:10.238Z,1628823070.238 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-13T02:51:10.238Z,1628823070.238 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-13T02:51:10.610Z,1628823070.610 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-13T02:51:10.611Z,1628823070.611 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-13T02:51:11.021Z,1628823071.021 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-13T02:51:11.022Z,1628823071.022 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-13T02:51:11.410Z,1628823071.410 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-13T02:51:11.410Z,1628823071.410 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-13T02:51:11.863Z,1628823071.863 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-13T02:51:11.863Z,1628823071.863 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-13T02:51:11.868Z,1628823071.868 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T02:51:11.868Z,1628823071.868 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-13T02:51:11.868Z,1628823071.868 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:51:11.869Z,1628823071.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-13T02:51:11.869Z,1628823071.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:51:11.869Z,1628823071.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-13T02:51:11.869Z,1628823071.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-13T02:51:11.869Z,1628823071.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:51:11.870Z,1628823071.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T02:51:11.870Z,1628823071.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:51:11.870Z,1628823071.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T02:51:11.870Z,1628823071.870 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T02:51:11.871Z,1628823071.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T02:51:11.876Z,1628823071.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:51:11.876Z,1628823071.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T02:51:11.876Z,1628823071.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:51:11.876Z,1628823071.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T02:51:11.877Z,1628823071.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T02:51:11.877Z,1628823071.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T02:51:11.877Z,1628823071.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T02:51:11.877Z,1628823071.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T02:51:11.879Z,1628823071.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:12.198Z,1628823072.198 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:12.198Z,1628823072.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:12.203Z,1628823072.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:12.213Z,1628823072.213 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:12.255Z,1628823072.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T02:51:12.255Z,1628823072.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:51:12.255Z,1628823072.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T02:51:12.260Z,1628823072.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:51:12.260Z,1628823072.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T02:51:12.260Z,1628823072.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T02:51:12.261Z,1628823072.261 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T02:51:12.592Z,1628823072.592 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00357,183,80,80,C5,FF
2021-08-13T02:51:12.592Z,1628823072.592 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:12.593Z,1628823072.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:12.594Z,1628823072.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:13.111Z,1628823073.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:13.433Z,1628823073.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00360,185,80,80,BA,FF
2021-08-13T02:51:13.434Z,1628823073.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:13.866Z,1628823073.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025114.12*5E

2021-08-13T02:51:15.225Z,1628823075.225 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-13T02:51:15.504Z,1628823075.504 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T02:51:15.942Z,1628823075.942 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-13T02:51:16.339Z,1628823076.339 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T02:51:16.357Z,1628823076.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:16.769Z,1628823076.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:16.769Z,1628823076.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:16.770Z,1628823076.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:16.771Z,1628823076.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:17.093Z,1628823077.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00360,185,80,80,BA,FF
2021-08-13T02:51:17.094Z,1628823077.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:17.094Z,1628823077.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:17.095Z,1628823077.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:17.523Z,1628823077.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:17.889Z,1628823077.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,038,000,0037C,184,80,80,A1,FF
2021-08-13T02:51:17.889Z,1628823077.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:18.297Z,1628823078.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025118.62*55

2021-08-13T02:51:20.752Z,1628823080.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:21.109Z,1628823081.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:21.109Z,1628823081.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:21.109Z,1628823081.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:21.110Z,1628823081.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:21.537Z,1628823081.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
038,000,0037C,184,80,80,A1,FF
2021-08-13T02:51:21.537Z,1628823081.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:21.538Z,1628823081.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:21.552Z,1628823081.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:21.957Z,1628823081.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:22.321Z,1628823082.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00371,184,80,80,86,FF
2021-08-13T02:51:22.322Z,1628823082.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:22.750Z,1628823082.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025123.07*5E

2021-08-13T02:51:25.204Z,1628823085.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:25.605Z,1628823085.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:25.605Z,1628823085.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:25.605Z,1628823085.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:25.606Z,1628823085.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:25.969Z,1628823085.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00371,184,80,80,86,FF
2021-08-13T02:51:25.969Z,1628823085.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:25.969Z,1628823085.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:25.971Z,1628823085.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:26.369Z,1628823086.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:26.789Z,1628823086.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00378,184,80,80,A7,FF
2021-08-13T02:51:26.789Z,1628823086.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:27.228Z,1628823087.228 [Micromodem](INFO): Nmea in: $SNTTA,-0.002098,,,,025127.49*60

2021-08-13T02:51:28.006Z,1628823088.006 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:51:29.763Z,1628823089.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:30.013Z,1628823090.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:30.013Z,1628823090.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:30.013Z,1628823090.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:30.014Z,1628823090.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:30.485Z,1628823090.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00378,184,80,80,A7,FF
2021-08-13T02:51:30.485Z,1628823090.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:30.485Z,1628823090.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:30.487Z,1628823090.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:30.871Z,1628823090.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:31.229Z,1628823091.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00381,186,80,80,A7,FF
2021-08-13T02:51:31.230Z,1628823091.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:31.673Z,1628823091.673 [Micromodem](INFO): Nmea in: $SNTTA,0.457421,0.418545,,,025132.01*50

2021-08-13T02:51:34.060Z,1628823094.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:34.449Z,1628823094.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:34.449Z,1628823094.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:34.450Z,1628823094.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:34.450Z,1628823094.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:34.850Z,1628823094.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00381,186,80,80,A7,FF
2021-08-13T02:51:34.850Z,1628823094.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:34.850Z,1628823094.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:34.853Z,1628823094.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:35.261Z,1628823095.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:35.677Z,1628823095.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE6,000,0038D,184,80,80,78,FF
2021-08-13T02:51:35.677Z,1628823095.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:36.098Z,1628823096.098 [Micromodem](INFO): Nmea in: $SNTTA,0.064124,,,,025136.38*4D

2021-08-13T02:51:36.490Z,1628823096.490 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 17.04 m. Transitioning DDM to standby.
2021-08-13T02:51:38.505Z,1628823098.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:38.921Z,1628823098.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:38.921Z,1628823098.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:38.921Z,1628823098.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:38.922Z,1628823098.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:38.957Z,1628823098.957 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-13T02:51:39.293Z,1628823099.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE6,000,0038D,184,80,80,78,FF
2021-08-13T02:51:39.293Z,1628823099.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:39.293Z,1628823099.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:39.295Z,1628823099.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:39.381Z,1628823099.381 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T02:51:39.381Z,1628823099.381 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-13T02:51:39.381Z,1628823099.381 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-13T02:51:39.677Z,1628823099.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:39.788Z,1628823099.788 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-13T02:51:39.788Z,1628823099.788 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-13T02:51:39.788Z,1628823099.788 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-13T02:51:40.101Z,1628823100.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00399,184,80,80,D0,FF
2021-08-13T02:51:40.102Z,1628823100.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:40.158Z,1628823100.158 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-13T02:51:40.159Z,1628823100.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:51:40.159Z,1628823100.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-13T02:51:40.159Z,1628823100.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-13T02:51:40.159Z,1628823100.159 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:51:40.509Z,1628823100.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025140.82*56

2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-13T02:51:40.550Z,1628823100.550 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-13T02:51:40.551Z,1628823100.551 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-13T02:51:40.556Z,1628823100.556 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-13T02:51:40.556Z,1628823100.556 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:51:40.556Z,1628823100.556 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-13T02:51:40.557Z,1628823100.557 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 17.039999 m 
2021-08-13T02:51:40.557Z,1628823100.557 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-13T02:51:40.557Z,1628823100.557 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-13T02:51:40.558Z,1628823100.558 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-13T02:51:40.558Z,1628823100.558 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-13T02:51:40.558Z,1628823100.558 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-13T02:51:40.558Z,1628823100.558 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-13T02:51:40.919Z,1628823100.919 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-13T02:51:40.927Z,1628823100.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-13T02:51:40.927Z,1628823100.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:51:40.927Z,1628823100.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-13T02:51:40.927Z,1628823100.927 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-13T02:51:40.927Z,1628823100.927 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-13T02:51:40.928Z,1628823100.928 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:51:40.928Z,1628823100.928 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-13T02:51:40.928Z,1628823100.928 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-13T02:51:40.928Z,1628823100.928 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-13T02:51:40.928Z,1628823100.928 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-13T02:51:40.929Z,1628823100.929 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T02:51:41.326Z,1628823101.326 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-13T02:51:41.326Z,1628823101.326 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:51:41.326Z,1628823101.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-13T02:51:41.327Z,1628823101.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:51:41.327Z,1628823101.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-13T02:51:41.327Z,1628823101.327 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-13T02:51:41.328Z,1628823101.328 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-13T02:51:41.328Z,1628823101.328 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-13T02:51:41.329Z,1628823101.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-13T02:51:41.329Z,1628823101.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:51:41.329Z,1628823101.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-13T02:51:41.329Z,1628823101.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:51:41.329Z,1628823101.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-13T02:51:41.330Z,1628823101.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-13T02:51:41.330Z,1628823101.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-13T02:51:41.330Z,1628823101.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-13T02:51:41.330Z,1628823101.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-13T02:51:41.331Z,1628823101.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-13T02:51:41.331Z,1628823101.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-13T02:51:41.331Z,1628823101.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-13T02:51:41.331Z,1628823101.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-13T02:51:41.332Z,1628823101.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-13T02:51:41.332Z,1628823101.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T02:51:41.333Z,1628823101.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-08-13T02:51:41.333Z,1628823101.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:51:41.333Z,1628823101.333 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-13T02:51:41.334Z,1628823101.334 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-13T02:51:41.800Z,1628823101.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-13T02:51:41.800Z,1628823101.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:51:41.800Z,1628823101.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-13T02:51:41.800Z,1628823101.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-13T02:51:41.803Z,1628823101.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 246.043549 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:51:41.803Z,1628823101.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 17.76 m.
2021-08-13T02:51:41.808Z,1628823101.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 246.043549deg and heading rate command to 0 deg/s.
2021-08-13T02:51:42.113Z,1628823102.113 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:51:43.008Z,1628823103.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:43.425Z,1628823103.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:43.425Z,1628823103.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:43.425Z,1628823103.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:43.426Z,1628823103.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:43.997Z,1628823103.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00399,184,80,80,D0,FF
2021-08-13T02:51:43.997Z,1628823103.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:43.997Z,1628823103.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:43.999Z,1628823103.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:44.475Z,1628823104.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:44.858Z,1628823104.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,003A0,187,80,80,A7,FF
2021-08-13T02:51:44.858Z,1628823104.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:44.944Z,1628823104.944 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:51:45.262Z,1628823105.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025145.52*5E

2021-08-13T02:51:45.292Z,1628823105.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 247.334400 deg, deltaT: 4.783153 s, approachRate: 0.087808 m/s, LOS rate: 0.269875 deg/s, posRepo size: 2
2021-08-13T02:51:45.293Z,1628823105.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.18 m.
2021-08-13T02:51:45.316Z,1628823105.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 247.334400 deg,
      approachRate: 0.087808 m/s,
      LOS rate: 0.269875 deg/s,
      cmd update: 0.809624 deg/s,
      cmd heading: 246.043549 deg,
      new cmd heading: 246.043549 deg.

2021-08-13T02:51:47.716Z,1628823107.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:48.037Z,1628823108.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:48.037Z,1628823108.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:48.037Z,1628823108.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:48.038Z,1628823108.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:48.437Z,1628823108.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,003A0,187,80,80,A7,FF
2021-08-13T02:51:48.437Z,1628823108.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:48.438Z,1628823108.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:48.439Z,1628823108.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:48.859Z,1628823108.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:49.249Z,1628823109.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,003A7,186,80,80,80,FF
2021-08-13T02:51:49.249Z,1628823109.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:49.338Z,1628823109.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:51:49.693Z,1628823109.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025149.96*5A

2021-08-13T02:51:49.756Z,1628823109.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 243.819175 deg, deltaT: 4.393469 s, approachRate: 0.095596 m/s, LOS rate: -0.800102 deg/s, posRepo size: 3
2021-08-13T02:51:49.758Z,1628823109.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 18.60 m.
2021-08-13T02:51:49.788Z,1628823109.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.599998 m,
      bearing: 243.819175 deg,
      approachRate: 0.095596 m/s,
      LOS rate: -0.800102 deg/s,
      cmd update: -2.400307 deg/s,
      cmd heading: 249.605489 deg,
      new cmd heading: 249.940054 deg.

2021-08-13T02:51:52.099Z,1628823112.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:52.485Z,1628823112.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:52.485Z,1628823112.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:52.485Z,1628823112.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:52.486Z,1628823112.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:52.897Z,1628823112.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,003A7,186,80,80,80,FF
2021-08-13T02:51:52.897Z,1628823112.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:52.897Z,1628823112.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:52.899Z,1628823112.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:53.301Z,1628823113.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:53.697Z,1628823113.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00388,187,80,80,98,FF
2021-08-13T02:51:53.698Z,1628823113.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:51:53.845Z,1628823113.845 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:51:54.141Z,1628823114.141 [Micromodem](INFO): Nmea in: $SNTTA,0.013410,,,,025154.42*46

2021-08-13T02:51:54.157Z,1628823114.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 248.684100 deg, deltaT: 4.507329 s, approachRate: -0.412661 m/s, LOS rate: 1.079337 deg/s, posRepo size: 4
2021-08-13T02:51:54.158Z,1628823114.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 16.74 m.
2021-08-13T02:51:54.160Z,1628823114.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 248.684100 deg,
      approachRate: -0.412661 m/s,
      LOS rate: 1.079337 deg/s,
      cmd update: 3.238010 deg/s,
      cmd heading: 238.787256 deg,
      new cmd heading: 238.021431 deg.

2021-08-13T02:51:56.565Z,1628823116.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:51:56.929Z,1628823116.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:51:56.929Z,1628823116.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:51:56.929Z,1628823116.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:51:56.930Z,1628823116.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:51:57.458Z,1628823117.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00388,187,80,80,98,FF
2021-08-13T02:51:57.458Z,1628823117.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:51:57.459Z,1628823117.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:51:57.462Z,1628823117.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:51:57.821Z,1628823117.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:51:58.954Z,1628823118.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025158.99*55

2021-08-13T02:51:59.398Z,1628823119.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:00.969Z,1628823120.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,98,FF
2021-08-13T02:52:00.969Z,1628823120.969 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,98,FF
2021-08-13T02:52:00.969Z,1628823120.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:52:01.906Z,1628823121.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:02.193Z,1628823122.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:02.193Z,1628823122.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:02.193Z,1628823122.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:02.194Z,1628823122.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:02.597Z,1628823122.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,98,FF
2021-08-13T02:52:02.597Z,1628823122.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:02.597Z,1628823122.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:02.599Z,1628823122.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:03.001Z,1628823123.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:03.401Z,1628823123.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00344,186,80,80,AC,FF
2021-08-13T02:52:03.401Z,1628823123.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:03.469Z,1628823123.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:03.858Z,1628823123.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025204.12*5C

2021-08-13T02:52:03.959Z,1628823123.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 250.162754 deg, deltaT: 9.623527 s, approachRate: -0.423961 m/s, LOS rate: 0.153650 deg/s, posRepo size: 4
2021-08-13T02:52:03.959Z,1628823123.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 12.66 m.
2021-08-13T02:52:03.959Z,1628823123.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 12.66 m.
2021-08-13T02:52:03.964Z,1628823123.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-13T02:52:03.967Z,1628823123.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 250.162754 deg,
      approachRate: -0.423961 m/s,
      LOS rate: 0.153650 deg/s,
      cmd update: 0.460950 deg/s,
      cmd heading: 269.949033 deg,
      new cmd heading: 271.539016 deg.

2021-08-13T02:52:06.259Z,1628823126.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:06.658Z,1628823126.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:06.658Z,1628823126.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:06.658Z,1628823126.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:06.659Z,1628823126.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:07.049Z,1628823127.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00344,186,80,80,AC,FF
2021-08-13T02:52:07.049Z,1628823127.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:07.049Z,1628823127.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:07.051Z,1628823127.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:07.460Z,1628823127.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:07.862Z,1628823127.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00338,186,80,80,6D,FF
2021-08-13T02:52:07.862Z,1628823127.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:07.947Z,1628823127.947 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:08.309Z,1628823128.309 [Micromodem](INFO): Nmea in: $SNTTA,0.035832,,,,025208.57*40

2021-08-13T02:52:08.340Z,1628823128.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 255.301980 deg, deltaT: 4.478196 s, approachRate: -0.160779 m/s, LOS rate: 1.147611 deg/s, posRepo size: 4
2021-08-13T02:52:08.342Z,1628823128.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 255.301980 deg,
      approachRate: -0.160779 m/s,
      LOS rate: 1.147611 deg/s,
      cmd update: 3.442832 deg/s,
      cmd heading: 272.015105 deg,
      new cmd heading: 272.197503 deg.

2021-08-13T02:52:10.839Z,1628823130.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:11.177Z,1628823131.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:11.177Z,1628823131.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:11.177Z,1628823131.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:11.178Z,1628823131.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:11.534Z,1628823131.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00338,186,80,80,6D,FF
2021-08-13T02:52:11.534Z,1628823131.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:11.535Z,1628823131.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:11.545Z,1628823131.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:11.977Z,1628823131.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:12.373Z,1628823132.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00304,185,80,80,98,FF
2021-08-13T02:52:12.374Z,1628823132.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:12.399Z,1628823132.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:12.809Z,1628823132.809 [Micromodem](INFO): Nmea in: $SNTTA,0.381116,,,,025213.07*4C

2021-08-13T02:52:12.861Z,1628823132.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 265.438992 deg, deltaT: 4.451545 s, approachRate: -0.700881 m/s, LOS rate: 2.277190 deg/s, posRepo size: 4
2021-08-13T02:52:12.869Z,1628823132.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 265.438992 deg,
      approachRate: -0.700881 m/s,
      LOS rate: 2.277190 deg/s,
      cmd update: 6.831569 deg/s,
      cmd heading: 287.341213 deg,
      new cmd heading: 288.926521 deg.

2021-08-13T02:52:15.218Z,1628823135.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:15.609Z,1628823135.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:15.609Z,1628823135.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:15.609Z,1628823135.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:15.610Z,1628823135.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:15.998Z,1628823135.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00304,185,80,80,98,FF
2021-08-13T02:52:15.998Z,1628823135.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:15.998Z,1628823135.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:15.000Z,1628823136.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:16.397Z,1628823136.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:16.833Z,1628823136.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,002E2,185,80,80,BB,FF
2021-08-13T02:52:16.834Z,1628823136.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:16.893Z,1628823136.893 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:17.253Z,1628823137.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025217.52*5A

2021-08-13T02:52:17.281Z,1628823137.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 271.903055 deg, deltaT: 4.494838 s, approachRate: -0.453854 m/s, LOS rate: 1.438108 deg/s, posRepo size: 4
2021-08-13T02:52:17.283Z,1628823137.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.779999 m,
      bearing: 271.903055 deg,
      approachRate: -0.453854 m/s,
      LOS rate: 1.438108 deg/s,
      cmd update: 4.314325 deg/s,
      cmd heading: 317.897810 deg,
      new cmd heading: 320.717424 deg.

2021-08-13T02:52:19.686Z,1628823139.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:20.037Z,1628823140.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:20.037Z,1628823140.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:20.037Z,1628823140.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:20.038Z,1628823140.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:20.441Z,1628823140.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,002E2,185,80,80,BB,FF
2021-08-13T02:52:20.442Z,1628823140.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:20.442Z,1628823140.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:20.444Z,1628823140.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:20.850Z,1628823140.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:21.289Z,1628823141.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,002CD,187,80,80,B1,FF
2021-08-13T02:52:21.289Z,1628823141.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:21.310Z,1628823141.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:21.694Z,1628823141.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025221.96*57

2021-08-13T02:52:21.826Z,1628823141.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 316.844389 deg, deltaT: 4.416160 s, approachRate: -0.285315 m/s, LOS rate: 10.176564 deg/s, posRepo size: 4
2021-08-13T02:52:21.828Z,1628823141.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 316.844389 deg,
      approachRate: -0.285315 m/s,
      LOS rate: 10.176564 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.045302 deg,
      new cmd heading: 339.285096 deg.

2021-08-13T02:52:24.119Z,1628823144.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:24.552Z,1628823144.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:24.552Z,1628823144.552 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:24.552Z,1628823144.552 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:24.553Z,1628823144.553 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:24.989Z,1628823144.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,002CD,187,80,80,B1,FF
2021-08-13T02:52:24.989Z,1628823144.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:24.989Z,1628823144.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:24.991Z,1628823144.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:25.376Z,1628823145.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:25.792Z,1628823145.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,002CB,188,80,80,99,FF
2021-08-13T02:52:25.792Z,1628823145.792 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:25.842Z,1628823145.842 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T02:52:25.889Z,1628823145.889 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:26.172Z,1628823146.172 [Micromodem](INFO): Nmea in: $SNTTA,0.007044,,,,025226.51*42

2021-08-13T02:52:26.216Z,1628823146.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 290.987232 deg, deltaT: 4.579360 s, approachRate: -0.026205 m/s, LOS rate: -5.646456 deg/s, posRepo size: 4
2021-08-13T02:52:26.218Z,1628823146.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 290.987232 deg,
      approachRate: -0.026205 m/s,
      LOS rate: -5.646456 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 31.964467 deg,
      new cmd heading: 35.954779 deg.

2021-08-13T02:52:28.607Z,1628823148.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:28.969Z,1628823148.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:28.969Z,1628823148.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:28.969Z,1628823148.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:28.970Z,1628823148.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:29.377Z,1628823149.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,002CB,188,80,80,99,FF
2021-08-13T02:52:29.377Z,1628823149.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:29.377Z,1628823149.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:29.379Z,1628823149.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:29.801Z,1628823149.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:30.181Z,1628823150.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,002E4,184,80,80,95,FF
2021-08-13T02:52:30.181Z,1628823150.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:30.202Z,1628823150.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:30.611Z,1628823150.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 340.941733 deg, deltaT: 4.312918 s, approachRate: 0.347792 m/s, LOS rate: 11.582530 deg/s, posRepo size: 4
2021-08-13T02:52:30.612Z,1628823150.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.582530 deg/s. Setting heading cmd to target bearing of 340.941733deg and heading rate command to 0 deg/s.
2021-08-13T02:52:33.052Z,1628823153.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:33.425Z,1628823153.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:33.425Z,1628823153.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:33.425Z,1628823153.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:33.426Z,1628823153.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:33.825Z,1628823153.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,002E4,184,80,80,95,FF
2021-08-13T02:52:33.825Z,1628823153.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:33.826Z,1628823153.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:33.827Z,1628823153.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:34.234Z,1628823154.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:34.626Z,1628823154.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00320,184,80,80,91,FF
2021-08-13T02:52:34.626Z,1628823154.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:34.651Z,1628823154.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:35.065Z,1628823155.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025235.35*5B

2021-08-13T02:52:35.091Z,1628823155.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 5.129445 deg, deltaT: 4.448765 s, approachRate: 0.809214 m/s, LOS rate: 5.436950 deg/s, posRepo size: 4
2021-08-13T02:52:35.093Z,1628823155.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.500002 m,
      bearing: 5.129445 deg,
      approachRate: 0.809214 m/s,
      LOS rate: 5.436950 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 340.941733 deg,
      new cmd heading: 340.941733 deg.

2021-08-13T02:52:37.515Z,1628823157.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:37.945Z,1628823157.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:37.945Z,1628823157.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:37.945Z,1628823157.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:37.946Z,1628823157.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:38.349Z,1628823158.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00320,184,80,80,91,FF
2021-08-13T02:52:38.349Z,1628823158.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:38.349Z,1628823158.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:38.351Z,1628823158.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:38.696Z,1628823158.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:39.096Z,1628823159.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,0034B,186,80,80,79,FF
2021-08-13T02:52:39.097Z,1628823159.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:39.127Z,1628823159.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:39.571Z,1628823159.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 359.080038 deg, deltaT: 4.476331 s, approachRate: 0.576365 m/s, LOS rate: -1.351421 deg/s, posRepo size: 4
2021-08-13T02:52:39.577Z,1628823159.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 359.080038 deg,
      approachRate: 0.576365 m/s,
      LOS rate: -1.351421 deg/s,
      cmd update: -4.054262 deg/s,
      cmd heading: 34.657347 deg,
      new cmd heading: 40.020303 deg.

2021-08-13T02:52:39.901Z,1628823159.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025239.87*5E

2021-08-13T02:52:41.992Z,1628823161.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:42.333Z,1628823162.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:42.333Z,1628823162.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:42.333Z,1628823162.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:42.334Z,1628823162.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:42.714Z,1628823162.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,0034B,186,80,80,79,FF
2021-08-13T02:52:42.714Z,1628823162.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:42.714Z,1628823162.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:42.719Z,1628823162.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:43.109Z,1628823163.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:43.525Z,1628823163.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,0036B,187,80,80,62,FF
2021-08-13T02:52:43.526Z,1628823163.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:43.629Z,1628823163.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:43.957Z,1628823163.957 [Micromodem](INFO): Nmea in: $SNTTA,0.059664,,,,025244.24*4B

2021-08-13T02:52:43.997Z,1628823163.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 8.385259 deg, deltaT: 4.501930 s, approachRate: 0.426483 m/s, LOS rate: 2.066941 deg/s, posRepo size: 4
2021-08-13T02:52:43.997Z,1628823163.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.00 m. Rolling out.
2021-08-13T02:52:43.998Z,1628823163.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-13T02:52:46.391Z,1628823166.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:46.756Z,1628823166.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:46.757Z,1628823166.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:46.757Z,1628823166.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:46.759Z,1628823166.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:47.157Z,1628823167.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,0036B,187,80,80,62,FF
2021-08-13T02:52:47.157Z,1628823167.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:47.157Z,1628823167.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:47.159Z,1628823167.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:47.597Z,1628823167.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:47.977Z,1628823167.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,003AA,183,80,80,44,FF
2021-08-13T02:52:47.978Z,1628823167.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:48.044Z,1628823168.044 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:48.389Z,1628823168.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025248.68*59

2021-08-13T02:52:48.411Z,1628823168.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 5.972516 deg, deltaT: 4.415103 s, approachRate: 0.856151 m/s, LOS rate: -0.546475 deg/s, posRepo size: 4
2021-08-13T02:52:50.847Z,1628823170.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:51.276Z,1628823171.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:51.276Z,1628823171.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:51.276Z,1628823171.276 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:51.277Z,1628823171.277 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:51.681Z,1628823171.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,003AA,183,80,80,44,FF
2021-08-13T02:52:51.681Z,1628823171.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:51.681Z,1628823171.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:51.683Z,1628823171.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:52.121Z,1628823172.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:52.509Z,1628823172.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,003D0,185,80,80,4C,FF
2021-08-13T02:52:52.509Z,1628823172.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:52:52.530Z,1628823172.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:52:52.941Z,1628823172.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025253.21*5E

2021-08-13T02:52:52.999Z,1628823172.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 14.886322 deg, deltaT: 4.486323 s, approachRate: 0.508211 m/s, LOS rate: 1.986885 deg/s, posRepo size: 4
2021-08-13T02:52:55.331Z,1628823175.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:55.725Z,1628823175.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:52:55.725Z,1628823175.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:52:55.725Z,1628823175.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:52:55.726Z,1628823175.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:52:56.125Z,1628823176.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,003D0,185,80,80,4C,FF
2021-08-13T02:52:56.125Z,1628823176.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:52:56.125Z,1628823176.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:52:56.127Z,1628823176.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:52:56.540Z,1628823176.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:52:57.378Z,1628823177.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025257.65*5A

2021-08-13T02:52:58.183Z,1628823178.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:52:59.768Z,1628823179.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,185,80,80,4C,FF
2021-08-13T02:52:59.769Z,1628823179.769 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,185,80,80,4C,FF
2021-08-13T02:52:59.769Z,1628823179.769 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:53:01.030Z,1628823181.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:01.377Z,1628823181.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:01.377Z,1628823181.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:01.377Z,1628823181.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:01.378Z,1628823181.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:01.829Z,1628823181.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,185,80,80,4C,FF
2021-08-13T02:53:01.829Z,1628823181.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:01.829Z,1628823181.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:01.831Z,1628823181.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:02.212Z,1628823182.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:02.637Z,1628823182.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00440,186,80,80,72,FF
2021-08-13T02:53:02.638Z,1628823182.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:02.658Z,1628823182.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:53:03.053Z,1628823183.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025303.35*5F

2021-08-13T02:53:03.100Z,1628823183.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 17.562317 deg, deltaT: 10.127283 s, approachRate: 0.663554 m/s, LOS rate: 0.264236 deg/s, posRepo size: 4
2021-08-13T02:53:05.221Z,1628823185.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:05.469Z,1628823185.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:05.469Z,1628823185.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:05.469Z,1628823185.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:05.470Z,1628823185.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:05.882Z,1628823185.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00440,186,80,80,72,FF
2021-08-13T02:53:05.882Z,1628823185.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:05.883Z,1628823185.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:05.885Z,1628823185.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:06.296Z,1628823186.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:06.681Z,1628823186.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,004AC,183,80,80,3A,FF
2021-08-13T02:53:06.682Z,1628823186.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:06.702Z,1628823186.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:53:07.105Z,1628823187.105 [Micromodem](INFO): Nmea in: $SNTTA,0.019829,,,,025307.41*4D

2021-08-13T02:53:07.151Z,1628823187.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 11.946151 deg, deltaT: 4.044591 s, approachRate: 1.602140 m/s, LOS rate: -1.388562 deg/s, posRepo size: 4
2021-08-13T02:53:09.572Z,1628823189.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:09.911Z,1628823189.911 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:09.911Z,1628823189.911 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:09.911Z,1628823189.911 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:09.912Z,1628823189.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:10.293Z,1628823190.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,004AC,183,80,80,3A,FF
2021-08-13T02:53:10.293Z,1628823190.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:10.294Z,1628823190.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:10.295Z,1628823190.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:10.722Z,1628823190.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:11.110Z,1628823191.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,004B3,187,80,80,67,FF
2021-08-13T02:53:11.110Z,1628823191.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:11.141Z,1628823191.141 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:53:11.561Z,1628823191.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025311.82*50

2021-08-13T02:53:11.610Z,1628823191.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 18.972175 deg, deltaT: 4.438827 s, approachRate: 0.094620 m/s, LOS rate: 1.582856 deg/s, posRepo size: 4
2021-08-13T02:53:13.998Z,1628823193.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:14.343Z,1628823194.343 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:14.343Z,1628823194.343 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:14.343Z,1628823194.343 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:14.344Z,1628823194.344 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:14.765Z,1628823194.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,004B3,187,80,80,67,FF
2021-08-13T02:53:14.765Z,1628823194.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:14.766Z,1628823194.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:14.782Z,1628823194.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:15.152Z,1628823195.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:15.590Z,1628823195.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,004F0,186,80,80,2A,FF
2021-08-13T02:53:15.591Z,1628823195.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:15.702Z,1628823195.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:53:15.984Z,1628823195.984 [Micromodem](INFO): Nmea in: $SNTTA,0.065497,,,,025316.31*48

2021-08-13T02:53:15.989Z,1628823195.989 [PowerOnly](INFO): Powering down loadControl
2021-08-13T02:53:16.039Z,1628823196.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 23.671525 deg, deltaT: 4.561271 s, approachRate: 0.802408 m/s, LOS rate: 1.030272 deg/s, posRepo size: 4
2021-08-13T02:53:17.996Z,1628823197.996 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:53:18.464Z,1628823198.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:18.937Z,1628823198.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:18.937Z,1628823198.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:18.937Z,1628823198.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:18.938Z,1628823198.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:19.225Z,1628823199.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,004F0,186,80,80,2A,FF
2021-08-13T02:53:19.225Z,1628823199.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:19.225Z,1628823199.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:19.227Z,1628823199.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:19.630Z,1628823199.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:20.410Z,1628823200.410 [Micromodem](INFO): Nmea in: $SNTTA,,0.086651,,,025320.75*48

2021-08-13T02:53:21.227Z,1628823201.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:22.825Z,1628823202.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,2A,FF
2021-08-13T02:53:22.826Z,1628823202.826 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,2A,FF
2021-08-13T02:53:22.826Z,1628823202.826 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:53:24.061Z,1628823204.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:24.442Z,1628823204.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:24.442Z,1628823204.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:24.442Z,1628823204.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:24.443Z,1628823204.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:24.841Z,1628823204.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,2A,FF
2021-08-13T02:53:24.841Z,1628823204.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:24.841Z,1628823204.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:24.843Z,1628823204.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:25.248Z,1628823205.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:25.673Z,1628823205.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00557,184,80,80,7A,FF
2021-08-13T02:53:25.673Z,1628823205.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:25.677Z,1628823205.677 [Micromodem](INFO): Nmea in: $SNTTA,0.057111,0.278349,,,025326.37*5A

2021-08-13T02:53:25.793Z,1628823205.793 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-13T02:53:26.121Z,1628823206.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 14.048339 deg, deltaT: 10.090741 s, approachRate: 0.612443 m/s, LOS rate: -0.953665 deg/s, posRepo size: 4
2021-08-13T02:53:26.490Z,1628823206.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-13T02:53:26.490Z,1628823206.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:53:26.490Z,1628823206.490 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-13T02:53:26.491Z,1628823206.491 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-13T02:53:26.491Z,1628823206.491 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-13T02:53:26.491Z,1628823206.491 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-13T02:53:26.913Z,1628823206.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-13T02:53:26.913Z,1628823206.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:53:26.913Z,1628823206.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-13T02:53:26.914Z,1628823206.914 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-13T02:53:28.503Z,1628823208.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:28.886Z,1628823208.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:28.886Z,1628823208.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:28.886Z,1628823208.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:28.887Z,1628823208.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:29.285Z,1628823209.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00557,184,80,80,7A,FF
2021-08-13T02:53:29.285Z,1628823209.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:29.285Z,1628823209.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:29.287Z,1628823209.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:29.692Z,1628823209.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:30.093Z,1628823210.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,0058E,184,80,80,80,FF
2021-08-13T02:53:30.093Z,1628823210.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:30.537Z,1628823210.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025330.81*50

2021-08-13T02:53:30.575Z,1628823210.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 10.970204 deg, deltaT: 4.334928 s, approachRate: 0.761258 m/s, LOS rate: -0.710078 deg/s, posRepo size: 4
2021-08-13T02:53:32.978Z,1628823212.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:33.374Z,1628823213.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:33.374Z,1628823213.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:33.375Z,1628823213.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:33.376Z,1628823213.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:33.775Z,1628823213.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,0058E,184,80,80,80,FF
2021-08-13T02:53:33.775Z,1628823213.775 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:33.775Z,1628823213.775 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:33.777Z,1628823213.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:34.174Z,1628823214.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:34.557Z,1628823214.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,005C8,185,80,80,49,FF
2021-08-13T02:53:34.558Z,1628823214.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:34.995Z,1628823214.995 [Micromodem](INFO): Nmea in: $SNTTA,0.050502,,,,025335.30*43

2021-08-13T02:53:35.021Z,1628823215.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 8.260748 deg, deltaT: 4.486391 s, approachRate: 0.775678 m/s, LOS rate: -0.603928 deg/s, posRepo size: 4
2021-08-13T02:53:37.422Z,1628823217.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:37.829Z,1628823217.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:37.829Z,1628823217.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:37.829Z,1628823217.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:37.830Z,1628823217.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:38.213Z,1628823218.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,005C8,185,80,80,49,FF
2021-08-13T02:53:38.213Z,1628823218.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:38.213Z,1628823218.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:38.215Z,1628823218.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:38.605Z,1628823218.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:39.005Z,1628823219.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00605,186,80,80,63,FF
2021-08-13T02:53:39.005Z,1628823219.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:39.457Z,1628823219.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025339.74*53

2021-08-13T02:53:39.475Z,1628823219.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 5.280848 deg, deltaT: 4.445788 s, approachRate: 0.823254 m/s, LOS rate: -0.670275 deg/s, posRepo size: 4
2021-08-13T02:53:41.899Z,1628823221.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:42.237Z,1628823222.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:42.237Z,1628823222.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:42.237Z,1628823222.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:42.238Z,1628823222.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:42.641Z,1628823222.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00605,186,80,80,63,FF
2021-08-13T02:53:42.641Z,1628823222.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:42.641Z,1628823222.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:42.643Z,1628823222.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:43.053Z,1628823223.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:43.449Z,1628823223.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00636,186,80,80,72,FF
2021-08-13T02:53:43.449Z,1628823223.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:43.897Z,1628823223.897 [Micromodem](INFO): Nmea in: $SNTTA,0.051841,,,,025344.16*4A

2021-08-13T02:53:43.961Z,1628823223.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 2.462920 deg, deltaT: 4.494683 s, approachRate: 0.654107 m/s, LOS rate: -0.626947 deg/s, posRepo size: 4
2021-08-13T02:53:46.399Z,1628823226.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:46.777Z,1628823226.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:46.777Z,1628823226.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:46.777Z,1628823226.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:46.778Z,1628823226.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:47.145Z,1628823227.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00636,186,80,80,72,FF
2021-08-13T02:53:47.145Z,1628823227.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:47.145Z,1628823227.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:47.147Z,1628823227.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:47.596Z,1628823227.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:47.957Z,1628823227.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,00671,186,80,80,85,FF
2021-08-13T02:53:47.957Z,1628823227.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:48.389Z,1628823228.389 [Micromodem](INFO): Nmea in: $SNTTA,0.051532,,,,025348.67*49

2021-08-13T02:53:48.419Z,1628823228.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 5.155998 deg, deltaT: 4.460980 s, approachRate: 0.793545 m/s, LOS rate: 0.603696 deg/s, posRepo size: 4
2021-08-13T02:53:50.843Z,1628823230.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:51.185Z,1628823231.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:51.185Z,1628823231.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:51.186Z,1628823231.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:51.187Z,1628823231.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:51.601Z,1628823231.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,00671,186,80,80,85,FF
2021-08-13T02:53:51.601Z,1628823231.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:51.601Z,1628823231.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:51.603Z,1628823231.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:52.005Z,1628823232.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:52.834Z,1628823232.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025353.13*5E

2021-08-13T02:53:53.660Z,1628823233.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:55.225Z,1628823235.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,85,FF
2021-08-13T02:53:55.225Z,1628823235.225 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,85,FF
2021-08-13T02:53:55.225Z,1628823235.225 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:53:56.479Z,1628823236.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:53:56.845Z,1628823236.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:53:56.845Z,1628823236.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:53:56.845Z,1628823236.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:53:56.846Z,1628823236.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:53:57.249Z,1628823237.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,85,FF
2021-08-13T02:53:57.249Z,1628823237.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:53:57.249Z,1628823237.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:53:57.251Z,1628823237.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:53:57.660Z,1628823237.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:53:58.061Z,1628823238.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,006F1,187,80,80,6F,FF
2021-08-13T02:53:58.062Z,1628823238.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:53:58.493Z,1628823238.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025358.77*57

2021-08-13T02:53:58.515Z,1628823238.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 0.845025 deg, deltaT: 10.075944 s, approachRate: 0.762212 m/s, LOS rate: -0.427848 deg/s, posRepo size: 4
2021-08-13T02:54:00.911Z,1628823240.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:01.301Z,1628823241.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:01.301Z,1628823241.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:01.301Z,1628823241.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:01.302Z,1628823241.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:01.693Z,1628823241.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,006F1,187,80,80,6F,FF
2021-08-13T02:54:01.693Z,1628823241.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:01.694Z,1628823241.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:01.695Z,1628823241.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:01.850Z,1628823241.850 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T02:54:02.106Z,1628823242.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:02.501Z,1628823242.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40C,000,00730,189,80,80,24,FF
2021-08-13T02:54:02.501Z,1628823242.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:02.953Z,1628823242.953 [Micromodem](INFO): Nmea in: $SNTTA,0.047887,,,,025403.22*44

2021-08-13T02:54:02.981Z,1628823242.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.900002 m, bearing: 320.693282 deg, deltaT: 4.457300 s, approachRate: 0.848047 m/s, LOS rate: -9.008087 deg/s, posRepo size: 4
2021-08-13T02:54:05.367Z,1628823245.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:05.733Z,1628823245.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:05.733Z,1628823245.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:05.733Z,1628823245.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:05.734Z,1628823245.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:06.145Z,1628823246.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40C,000,00730,189,80,80,24,FF
2021-08-13T02:54:06.145Z,1628823246.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:06.146Z,1628823246.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:06.152Z,1628823246.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:06.541Z,1628823246.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:06.947Z,1628823246.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,0075C,185,80,80,86,FF
2021-08-13T02:54:06.949Z,1628823246.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:07.417Z,1628823247.417 [Micromodem](INFO): Nmea in: $SNTTA,0.052676,,,,025407.67*45

2021-08-13T02:54:07.440Z,1628823247.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.540001 m, bearing: 351.829055 deg, deltaT: 4.455665 s, approachRate: 0.592504 m/s, LOS rate: 6.987907 deg/s, posRepo size: 4
2021-08-13T02:54:09.861Z,1628823249.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:10.189Z,1628823250.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:10.189Z,1628823250.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:10.190Z,1628823250.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:10.190Z,1628823250.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:10.589Z,1628823250.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,0075C,185,80,80,86,FF
2021-08-13T02:54:10.589Z,1628823250.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:10.589Z,1628823250.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:10.591Z,1628823250.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:10.997Z,1628823250.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:11.393Z,1628823251.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00798,186,80,80,6F,FF
2021-08-13T02:54:11.394Z,1628823251.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:11.841Z,1628823251.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025412.11*5E

2021-08-13T02:54:11.931Z,1628823251.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 1.770014 deg, deltaT: 4.408324 s, approachRate: 0.816638 m/s, LOS rate: 2.255040 deg/s, posRepo size: 4
2021-08-13T02:54:13.926Z,1628823253.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:14.222Z,1628823254.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:14.223Z,1628823254.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:14.223Z,1628823254.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:14.224Z,1628823254.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:14.621Z,1628823254.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00798,186,80,80,6F,FF
2021-08-13T02:54:14.621Z,1628823254.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:14.621Z,1628823254.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:14.623Z,1628823254.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:15.032Z,1628823255.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:15.869Z,1628823255.869 [Micromodem](INFO): Nmea in: $SNTTA,,0.350732,,,025416.14*41

2021-08-13T02:54:16.659Z,1628823256.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:18.257Z,1628823258.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,087B0,186,80,80,5B,FF
2021-08-13T02:54:18.257Z,1628823258.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:18.693Z,1628823258.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2046.659912 m, bearing: 358.110998 deg, deltaT: 6.864076 s, approachRate: 286.640167 m/s, LOS rate: -0.533066 deg/s, posRepo size: 4
2021-08-13T02:54:18.693Z,1628823258.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2046.66 m. Resuming terminal guidance.
2021-08-13T02:54:18.693Z,1628823258.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-13T02:54:21.141Z,1628823261.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:21.496Z,1628823261.496 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:21.496Z,1628823261.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:21.497Z,1628823261.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:21.499Z,1628823261.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:21.909Z,1628823261.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,087B0,186,80,80,5B,FF
2021-08-13T02:54:21.909Z,1628823261.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:21.909Z,1628823261.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:21.911Z,1628823261.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:22.301Z,1628823262.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:23.122Z,1628823263.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025423.43*5B

2021-08-13T02:54:23.961Z,1628823263.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:25.641Z,1628823265.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,5B,FF
2021-08-13T02:54:25.641Z,1628823265.641 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,5B,FF
2021-08-13T02:54:25.641Z,1628823265.641 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:54:26.808Z,1628823266.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:27.153Z,1628823267.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:27.153Z,1628823267.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:27.153Z,1628823267.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:27.154Z,1628823267.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:27.589Z,1628823267.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,5B,FF
2021-08-13T02:54:27.589Z,1628823267.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:27.589Z,1628823267.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:27.591Z,1628823267.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:27.981Z,1628823267.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:28.373Z,1628823268.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,0086B,186,80,80,65,FF
2021-08-13T02:54:28.374Z,1628823268.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:28.809Z,1628823268.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025429.12*55

2021-08-13T02:54:28.857Z,1628823268.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.800003 m, bearing: 3.354937 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-13T02:54:28.858Z,1628823268.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 3.354937deg and heading rate command to 0 deg/s.
2021-08-13T02:54:31.211Z,1628823271.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:31.613Z,1628823271.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:31.613Z,1628823271.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:31.614Z,1628823271.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:31.614Z,1628823271.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:32.009Z,1628823272.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,0086B,186,80,80,65,FF
2021-08-13T02:54:32.009Z,1628823272.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:32.009Z,1628823272.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:32.011Z,1628823272.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:32.450Z,1628823272.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:32.838Z,1628823272.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,008A2,186,80,80,74,FF
2021-08-13T02:54:32.838Z,1628823272.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:33.249Z,1628823273.249 [Micromodem](INFO): Nmea in: $SNTTA,0.062924,,,,025433.53*4E

2021-08-13T02:54:33.272Z,1628823273.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 349.021874 deg, deltaT: 4.518429 s, approachRate: 0.730341 m/s, LOS rate: -3.172133 deg/s, posRepo size: 2
2021-08-13T02:54:33.274Z,1628823273.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 349.021874 deg,
      approachRate: 0.730341 m/s,
      LOS rate: -3.172133 deg/s,
      cmd update: -9.516400 deg/s,
      cmd heading: 3.354937 deg,
      new cmd heading: 3.354937 deg.

2021-08-13T02:54:35.693Z,1628823275.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:36.057Z,1628823276.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:36.057Z,1628823276.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:36.057Z,1628823276.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:36.058Z,1628823276.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:36.453Z,1628823276.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,008A2,186,80,80,74,FF
2021-08-13T02:54:36.453Z,1628823276.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:36.453Z,1628823276.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:36.455Z,1628823276.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:36.867Z,1628823276.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:37.249Z,1628823277.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,008DB,186,80,80,55,FF
2021-08-13T02:54:37.250Z,1628823277.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:37.681Z,1628823277.681 [Micromodem](INFO): Nmea in: $SNTTA,0.434142,0.434049,,,025437.98*52

2021-08-13T02:54:37.746Z,1628823277.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 11.546004 deg, deltaT: 4.363416 s, approachRate: 0.783791 m/s, LOS rate: 5.162039 deg/s, posRepo size: 3
2021-08-13T02:54:37.778Z,1628823277.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.520004 m,
      bearing: 11.546004 deg,
      approachRate: 0.783791 m/s,
      LOS rate: 5.162039 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.767821 deg,
      new cmd heading: 317.257999 deg.

2021-08-13T02:54:39.842Z,1628823279.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:40.101Z,1628823280.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:40.101Z,1628823280.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:40.101Z,1628823280.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:40.102Z,1628823280.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:40.517Z,1628823280.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,008DB,186,80,80,55,FF
2021-08-13T02:54:40.517Z,1628823280.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:40.518Z,1628823280.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:40.519Z,1628823280.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:40.921Z,1628823280.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:41.361Z,1628823281.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,00904,189,80,80,78,FF
2021-08-13T02:54:41.362Z,1628823281.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:41.721Z,1628823281.721 [Micromodem](INFO): Nmea in: $SNTTA,0.442408,0.442658,,,025442.04*58

2021-08-13T02:54:41.821Z,1628823281.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 300.883548 deg, deltaT: 4.143600 s, approachRate: 0.593686 m/s, LOS rate: -17.053396 deg/s, posRepo size: 4
2021-08-13T02:54:41.822Z,1628823281.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.053396 deg/s. Setting heading cmd to target bearing of 300.883548deg and heading rate command to 0 deg/s.
2021-08-13T02:54:44.161Z,1628823284.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:44.529Z,1628823284.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:44.529Z,1628823284.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:44.529Z,1628823284.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:44.530Z,1628823284.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:44.946Z,1628823284.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,00904,189,80,80,78,FF
2021-08-13T02:54:44.946Z,1628823284.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:44.947Z,1628823284.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:44.949Z,1628823284.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:45.344Z,1628823285.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:46.162Z,1628823286.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025446.47*5C

2021-08-13T02:54:46.986Z,1628823286.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:48.570Z,1628823288.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,78,FF
2021-08-13T02:54:48.570Z,1628823288.570 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,78,FF
2021-08-13T02:54:48.571Z,1628823288.571 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:54:49.862Z,1628823289.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:50.185Z,1628823290.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:50.185Z,1628823290.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:50.185Z,1628823290.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:50.186Z,1628823290.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:50.590Z,1628823290.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,78,FF
2021-08-13T02:54:50.590Z,1628823290.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:50.590Z,1628823290.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:50.594Z,1628823290.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:50.992Z,1628823290.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:51.398Z,1628823291.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0096D,189,80,80,BB,FF
2021-08-13T02:54:51.398Z,1628823291.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:51.842Z,1628823291.842 [Micromodem](INFO): Nmea in: $SNTTA,0.089365,,,,025452.11*45

2021-08-13T02:54:51.923Z,1628823291.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 294.457323 deg, deltaT: 10.039704 s, approachRate: 0.627508 m/s, LOS rate: -0.640081 deg/s, posRepo size: 4
2021-08-13T02:54:51.926Z,1628823291.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 294.457323 deg,
      approachRate: 0.627508 m/s,
      LOS rate: -0.640081 deg/s,
      cmd update: -1.920243 deg/s,
      cmd heading: 300.883548 deg,
      new cmd heading: 300.883548 deg.

2021-08-13T02:54:54.258Z,1628823294.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:54:54.621Z,1628823294.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:54:54.621Z,1628823294.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:54:54.621Z,1628823294.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:54:54.622Z,1628823294.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:54:55.034Z,1628823295.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0096D,189,80,80,BB,FF
2021-08-13T02:54:55.034Z,1628823295.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:54:55.034Z,1628823295.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:54:55.036Z,1628823295.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:54:55.436Z,1628823295.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:54:56.275Z,1628823296.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025456.56*5D

2021-08-13T02:54:57.053Z,1628823297.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,03701,185,80,80,9E,FF
2021-08-13T02:54:57.054Z,1628823297.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:54:57.573Z,1628823297.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 807.360046 m, bearing: 296.783030 deg, deltaT: 5.663285 s, approachRate: 123.617317 m/s, LOS rate: 0.410664 deg/s, posRepo size: 4
2021-08-13T02:54:57.575Z,1628823297.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 807.360046 m,
      bearing: 296.783030 deg,
      approachRate: 123.617317 m/s,
      LOS rate: 0.410664 deg/s,
      cmd update: 1.231992 deg/s,
      cmd heading: 290.055202 deg,
      new cmd heading: 289.152584 deg.

2021-08-13T02:54:59.945Z,1628823299.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:00.289Z,1628823300.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:00.289Z,1628823300.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:00.290Z,1628823300.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:00.290Z,1628823300.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:00.693Z,1628823300.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,03701,185,80,80,9E,FF
2021-08-13T02:55:00.693Z,1628823300.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:00.693Z,1628823300.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:00.695Z,1628823300.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:01.092Z,1628823301.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:01.513Z,1628823301.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,009B2,187,80,80,27,FF
2021-08-13T02:55:01.514Z,1628823301.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:01.937Z,1628823301.937 [Micromodem](INFO): Nmea in: $SNTTA,0.098423,,,,025502.22*44

2021-08-13T02:55:02.032Z,1628823302.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.419998 m, bearing: 286.283336 deg, deltaT: 4.465555 s, approachRate: -155.846268 m/s, LOS rate: -2.351263 deg/s, posRepo size: 4
2021-08-13T02:55:02.034Z,1628823302.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.419998 m,
      bearing: 286.283336 deg,
      approachRate: -155.846268 m/s,
      LOS rate: -2.351263 deg/s,
      cmd update: -7.053789 deg/s,
      cmd heading: 295.586463 deg,
      new cmd heading: 296.143170 deg.

2021-08-13T02:55:04.338Z,1628823304.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:04.737Z,1628823304.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:04.737Z,1628823304.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:04.737Z,1628823304.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:04.738Z,1628823304.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:05.133Z,1628823305.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,009B2,187,80,80,27,FF
2021-08-13T02:55:05.133Z,1628823305.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:05.133Z,1628823305.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:05.135Z,1628823305.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:05.597Z,1628823305.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:06.091Z,1628823306.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,009BF,186,80,80,81,FF
2021-08-13T02:55:06.091Z,1628823306.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:06.401Z,1628823306.401 [Micromodem](INFO): Nmea in: $SNTTA,0.083358,,,,025506.66*41

2021-08-13T02:55:06.436Z,1628823306.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.199997 m, bearing: 293.338757 deg, deltaT: 4.553286 s, approachRate: 0.171305 m/s, LOS rate: 1.549523 deg/s, posRepo size: 4
2021-08-13T02:55:06.438Z,1628823306.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.199997 m,
      bearing: 293.338757 deg,
      approachRate: 0.171305 m/s,
      LOS rate: 1.549523 deg/s,
      cmd update: 4.648569 deg/s,
      cmd heading: 263.441392 deg,
      new cmd heading: 261.362027 deg.

2021-08-13T02:55:08.847Z,1628823308.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:09.185Z,1628823309.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:09.185Z,1628823309.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:09.185Z,1628823309.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:09.186Z,1628823309.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:09.616Z,1628823309.616 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,009BF,186,80,80,81,FF
2021-08-13T02:55:09.617Z,1628823309.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:09.617Z,1628823309.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:09.619Z,1628823309.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:09.993Z,1628823309.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:10.406Z,1628823310.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009CE,189,80,80,98,FF
2021-08-13T02:55:10.406Z,1628823310.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:10.850Z,1628823310.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025511.14*59

2021-08-13T02:55:10.941Z,1628823310.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.100006 m, bearing: 220.170765 deg, deltaT: 4.293781 s, approachRate: 0.209608 m/s, LOS rate: -17.040458 deg/s, posRepo size: 4
2021-08-13T02:55:10.945Z,1628823310.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.040458 deg/s. Setting heading cmd to target bearing of 220.170765deg and heading rate command to 0 deg/s.
2021-08-13T02:55:13.274Z,1628823313.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:13.633Z,1628823313.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:13.633Z,1628823313.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:13.633Z,1628823313.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:13.634Z,1628823313.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:14.033Z,1628823314.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009CE,189,80,80,98,FF
2021-08-13T02:55:14.033Z,1628823314.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:14.033Z,1628823314.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:14.035Z,1628823314.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:14.448Z,1628823314.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:14.845Z,1628823314.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009D1,189,80,80,6D,FF
2021-08-13T02:55:14.846Z,1628823314.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:15.281Z,1628823315.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025515.56*5B

2021-08-13T02:55:15.323Z,1628823315.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.279999 m, bearing: 215.253740 deg, deltaT: 4.493985 s, approachRate: 0.040052 m/s, LOS rate: -1.094135 deg/s, posRepo size: 4
2021-08-13T02:55:15.325Z,1628823315.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.279999 m,
      bearing: 215.253740 deg,
      approachRate: 0.040052 m/s,
      LOS rate: -1.094135 deg/s,
      cmd update: -3.282405 deg/s,
      cmd heading: 220.170765 deg,
      new cmd heading: 220.170765 deg.

2021-08-13T02:55:17.758Z,1628823317.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:18.073Z,1628823318.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:18.073Z,1628823318.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:18.073Z,1628823318.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:18.074Z,1628823318.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:18.485Z,1628823318.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009D1,189,80,80,6D,FF
2021-08-13T02:55:18.485Z,1628823318.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:18.485Z,1628823318.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:18.487Z,1628823318.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:18.889Z,1628823318.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:19.426Z,1628823319.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,009D8,189,80,80,A7,FF
2021-08-13T02:55:19.427Z,1628823319.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:19.726Z,1628823319.726 [Micromodem](INFO): Nmea in: $SNTTA,0.458357,0.458601,,,025520.01*59

2021-08-13T02:55:19.866Z,1628823319.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 224.857996 deg, deltaT: 4.523326 s, approachRate: 0.092853 m/s, LOS rate: 2.123273 deg/s, posRepo size: 4
2021-08-13T02:55:19.874Z,1628823319.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 224.857996 deg,
      approachRate: 0.092853 m/s,
      LOS rate: 2.123273 deg/s,
      cmd update: 6.369819 deg/s,
      cmd heading: 205.294417 deg,
      new cmd heading: 203.940281 deg.

2021-08-13T02:55:22.135Z,1628823322.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:22.517Z,1628823322.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:22.517Z,1628823322.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:22.517Z,1628823322.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:22.518Z,1628823322.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:22.929Z,1628823322.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,009D8,189,80,80,A7,FF
2021-08-13T02:55:22.930Z,1628823322.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:22.930Z,1628823322.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:22.932Z,1628823322.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:23.328Z,1628823323.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:23.737Z,1628823323.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009D8,189,80,80,BF,FF
2021-08-13T02:55:23.738Z,1628823323.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:24.181Z,1628823324.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025524.45*5B

2021-08-13T02:55:24.197Z,1628823324.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.700005 m, bearing: 194.824111 deg, deltaT: 4.390579 s, approachRate: 0.000000 m/s, LOS rate: -6.840530 deg/s, posRepo size: 4
2021-08-13T02:55:24.199Z,1628823324.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 194.824111 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.840530 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 233.258409 deg,
      new cmd heading: 235.541447 deg.

2021-08-13T02:55:26.579Z,1628823326.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:26.961Z,1628823326.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:26.961Z,1628823326.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:26.962Z,1628823326.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:26.963Z,1628823326.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:27.361Z,1628823327.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009D8,189,80,80,BF,FF
2021-08-13T02:55:27.361Z,1628823327.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:27.362Z,1628823327.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:27.363Z,1628823327.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:27.790Z,1628823327.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:28.177Z,1628823328.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009CB,189,80,80,A2,FF
2021-08-13T02:55:28.178Z,1628823328.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:28.621Z,1628823328.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025528.89*57

2021-08-13T02:55:28.659Z,1628823328.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 179.386695 deg, deltaT: 4.355590 s, approachRate: -0.179080 m/s, LOS rate: -3.544277 deg/s, posRepo size: 4
2021-08-13T02:55:28.661Z,1628823328.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 179.386695 deg,
      approachRate: -0.179080 m/s,
      LOS rate: -3.544277 deg/s,
      cmd update: -10.632830 deg/s,
      cmd heading: 180.986047 deg,
      new cmd heading: 175.405183 deg.

2021-08-13T02:55:31.022Z,1628823331.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:31.405Z,1628823331.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:31.405Z,1628823331.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:31.406Z,1628823331.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:31.407Z,1628823331.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:31.833Z,1628823331.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009CB,189,80,80,A2,FF
2021-08-13T02:55:31.833Z,1628823331.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:31.833Z,1628823331.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:31.835Z,1628823331.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:32.277Z,1628823332.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:32.709Z,1628823332.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,009B7,189,80,80,A6,FF
2021-08-13T02:55:32.709Z,1628823332.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:33.081Z,1628823333.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025533.36*59

2021-08-13T02:55:33.120Z,1628823333.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.720009 m, bearing: 178.502295 deg, deltaT: 4.600883 s, approachRate: -0.260819 m/s, LOS rate: -0.192224 deg/s, posRepo size: 4
2021-08-13T02:55:33.122Z,1628823333.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.720009 m,
      bearing: 178.502295 deg,
      approachRate: -0.260819 m/s,
      LOS rate: -0.192224 deg/s,
      cmd update: -0.576672 deg/s,
      cmd heading: 132.109286 deg,
      new cmd heading: 128.610521 deg.

2021-08-13T02:55:35.470Z,1628823335.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:35.845Z,1628823335.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:35.845Z,1628823335.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:35.845Z,1628823335.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:35.846Z,1628823335.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:36.249Z,1628823336.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,009B7,189,80,80,A6,FF
2021-08-13T02:55:36.249Z,1628823336.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:36.249Z,1628823336.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:36.251Z,1628823336.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:36.686Z,1628823336.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:37.061Z,1628823337.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CC,000,0099A,189,80,80,A2,FF
2021-08-13T02:55:37.062Z,1628823337.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:37.533Z,1628823337.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025537.77*58

2021-08-13T02:55:37.581Z,1628823337.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.980003 m, bearing: 172.764280 deg, deltaT: 4.328255 s, approachRate: -0.402011 m/s, LOS rate: -1.325711 deg/s, posRepo size: 4
2021-08-13T02:55:37.583Z,1628823337.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 172.764280 deg,
      approachRate: -0.402011 m/s,
      LOS rate: -1.325711 deg/s,
      cmd update: -3.977132 deg/s,
      cmd heading: 129.613317 deg,
      new cmd heading: 129.347536 deg.

2021-08-13T02:55:39.977Z,1628823339.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:40.313Z,1628823340.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:40.313Z,1628823340.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:40.313Z,1628823340.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:40.314Z,1628823340.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:40.701Z,1628823340.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CC,000,0099A,189,80,80,A2,FF
2021-08-13T02:55:40.701Z,1628823340.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:40.701Z,1628823340.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:40.703Z,1628823340.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:41.111Z,1628823341.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:41.521Z,1628823341.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,0096B,185,80,80,9F,FF
2021-08-13T02:55:41.523Z,1628823341.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:41.553Z,1628823341.553 [Micromodem](INFO): Nmea in: $SNTTA,0.307969,0.307731,,,025542.22*59

2021-08-13T02:55:41.954Z,1628823341.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.160004 m, bearing: 174.482059 deg, deltaT: 4.492400 s, approachRate: -0.627727 m/s, LOS rate: 0.382374 deg/s, posRepo size: 4
2021-08-13T02:55:41.972Z,1628823341.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 174.482059 deg,
      approachRate: -0.627727 m/s,
      LOS rate: 0.382374 deg/s,
      cmd update: 1.147123 deg/s,
      cmd heading: 111.731453 deg,
      new cmd heading: 110.384227 deg.

2021-08-13T02:55:44.358Z,1628823344.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:44.739Z,1628823344.739 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:44.739Z,1628823344.739 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:44.749Z,1628823344.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:44.750Z,1628823344.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:45.145Z,1628823345.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,0096B,185,80,80,9F,FF
2021-08-13T02:55:45.145Z,1628823345.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:45.145Z,1628823345.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:45.147Z,1628823345.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:45.671Z,1628823345.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:45.928Z,1628823345.928 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T02:55:45.930Z,1628823345.930 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T02:55:45.981Z,1628823345.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00946,185,80,80,B9,FF
2021-08-13T02:55:45.981Z,1628823345.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:46.393Z,1628823346.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025546.67*5F

2021-08-13T02:55:46.408Z,1628823346.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 178.238267 deg, deltaT: 4.428375 s, approachRate: -0.501315 m/s, LOS rate: 0.848214 deg/s, posRepo size: 4
2021-08-13T02:55:46.410Z,1628823346.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.939995 m,
      bearing: 178.238267 deg,
      approachRate: -0.501315 m/s,
      LOS rate: 0.848214 deg/s,
      cmd update: 2.544641 deg/s,
      cmd heading: 116.789512 deg,
      new cmd heading: 117.229212 deg.

2021-08-13T02:55:48.798Z,1628823348.798 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:55:48.836Z,1628823348.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:49.177Z,1628823349.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:49.177Z,1628823349.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:49.177Z,1628823349.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:49.178Z,1628823349.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:49.597Z,1628823349.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00946,185,80,80,B9,FF
2021-08-13T02:55:49.597Z,1628823349.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:49.597Z,1628823349.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:49.599Z,1628823349.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:49.989Z,1628823349.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:50.394Z,1628823350.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00917,186,80,80,9B,FF
2021-08-13T02:55:50.394Z,1628823350.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:50.854Z,1628823350.854 [Micromodem](INFO): Nmea in: $SNTTA,0.131352,,,,025551.12*42

2021-08-13T02:55:50.891Z,1628823350.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.120003 m, bearing: 180.427643 deg, deltaT: 4.366825 s, approachRate: -0.645776 m/s, LOS rate: 0.501366 deg/s, posRepo size: 4
2021-08-13T02:55:50.893Z,1628823350.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.120003 m,
      bearing: 180.427643 deg,
      approachRate: -0.645776 m/s,
      LOS rate: 0.501366 deg/s,
      cmd update: 1.504097 deg/s,
      cmd heading: 127.950650 deg,
      new cmd heading: 129.172139 deg.

2021-08-13T02:55:53.250Z,1628823353.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:53.623Z,1628823353.623 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:53.623Z,1628823353.623 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:53.623Z,1628823353.623 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:53.624Z,1628823353.624 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:54.033Z,1628823354.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00917,186,80,80,9B,FF
2021-08-13T02:55:54.033Z,1628823354.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:54.033Z,1628823354.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:54.035Z,1628823354.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:54.441Z,1628823354.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:54.841Z,1628823354.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA5,000,008F0,189,80,80,A4,FF
2021-08-13T02:55:54.841Z,1628823354.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:55.285Z,1628823355.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025555.56*5F

2021-08-13T02:55:55.308Z,1628823355.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 185.891590 deg, deltaT: 4.503459 s, approachRate: -0.519601 m/s, LOS rate: 1.213278 deg/s, posRepo size: 4
2021-08-13T02:55:55.310Z,1628823355.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.779999 m,
      bearing: 185.891590 deg,
      approachRate: -0.519601 m/s,
      LOS rate: 1.213278 deg/s,
      cmd update: 3.639833 deg/s,
      cmd heading: 134.724368 deg,
      new cmd heading: 135.315657 deg.

2021-08-13T02:55:57.699Z,1628823357.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:55:58.077Z,1628823358.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:55:58.077Z,1628823358.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:55:58.078Z,1628823358.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:55:58.078Z,1628823358.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:55:58.469Z,1628823358.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA5,000,008F0,189,80,80,A4,FF
2021-08-13T02:55:58.469Z,1628823358.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:55:58.469Z,1628823358.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:55:58.471Z,1628823358.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:55:58.895Z,1628823358.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:55:59.277Z,1628823359.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C80,000,008C9,189,80,80,8F,FF
2021-08-13T02:55:59.277Z,1628823359.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:55:59.726Z,1628823359.726 [Micromodem](INFO): Nmea in: $SNTTA,0.064693,,,,025559.99*40

2021-08-13T02:55:59.839Z,1628823359.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 187.277298 deg, deltaT: 4.407520 s, approachRate: -0.530910 m/s, LOS rate: 0.314396 deg/s, posRepo size: 4
2021-08-13T02:55:59.846Z,1628823359.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.440002 m,
      bearing: 187.277298 deg,
      approachRate: -0.530910 m/s,
      LOS rate: 0.314396 deg/s,
      cmd update: 0.943189 deg/s,
      cmd heading: 150.753147 deg,
      new cmd heading: 152.650490 deg.

2021-08-13T02:56:01.826Z,1628823361.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:02.121Z,1628823362.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:02.121Z,1628823362.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:02.121Z,1628823362.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:02.122Z,1628823362.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:02.524Z,1628823362.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C80,000,008C9,189,80,80,8F,FF
2021-08-13T02:56:02.524Z,1628823362.524 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:02.525Z,1628823362.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:02.527Z,1628823362.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:02.929Z,1628823362.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:03.325Z,1628823363.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,008A6,186,80,80,89,FF
2021-08-13T02:56:03.326Z,1628823363.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:03.837Z,1628823363.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025604.05*5E

2021-08-13T02:56:03.917Z,1628823363.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 129.798839 deg, deltaT: 4.020047 s, approachRate: -0.522382 m/s, LOS rate: -14.297957 deg/s, posRepo size: 4
2021-08-13T02:56:03.918Z,1628823363.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.297957 deg/s. Setting heading cmd to target bearing of 129.798839deg and heading rate command to 0 deg/s.
2021-08-13T02:56:06.197Z,1628823366.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:06.549Z,1628823366.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:06.549Z,1628823366.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:06.549Z,1628823366.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:06.550Z,1628823366.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:06.969Z,1628823366.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,008A6,186,80,80,89,FF
2021-08-13T02:56:06.970Z,1628823366.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:06.970Z,1628823366.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:06.973Z,1628823366.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:07.365Z,1628823367.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:07.786Z,1628823367.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,0087F,189,80,80,6E,FF
2021-08-13T02:56:07.787Z,1628823367.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:08.197Z,1628823368.197 [Micromodem](INFO): Nmea in: $SNTTA,0.081411,,,,025608.49*49

2021-08-13T02:56:08.219Z,1628823368.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 127.543264 deg, deltaT: 4.545580 s, approachRate: -0.514787 m/s, LOS rate: -0.496213 deg/s, posRepo size: 4
2021-08-13T02:56:08.238Z,1628823368.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.000000 m,
      bearing: 127.543264 deg,
      approachRate: -0.514787 m/s,
      LOS rate: -0.496213 deg/s,
      cmd update: -1.488638 deg/s,
      cmd heading: 129.798839 deg,
      new cmd heading: 129.798839 deg.

2021-08-13T02:56:10.619Z,1628823370.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:10.994Z,1628823370.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:10.994Z,1628823370.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:10.994Z,1628823370.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:10.995Z,1628823370.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:11.405Z,1628823371.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,0087F,189,80,80,6E,FF
2021-08-13T02:56:11.406Z,1628823371.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:11.406Z,1628823371.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:11.407Z,1628823371.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:11.831Z,1628823371.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:12.205Z,1628823372.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C16,000,0085B,189,80,80,81,FF
2021-08-13T02:56:12.206Z,1628823372.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:12.658Z,1628823372.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025612.93*56

2021-08-13T02:56:12.681Z,1628823372.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.840004 m, bearing: 191.566794 deg, deltaT: 4.367305 s, approachRate: -0.494583 m/s, LOS rate: 14.659734 deg/s, posRepo size: 4
2021-08-13T02:56:12.682Z,1628823372.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.659734 deg/s. Setting heading cmd to target bearing of 191.566794deg and heading rate command to 0 deg/s.
2021-08-13T02:56:15.097Z,1628823375.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:15.441Z,1628823375.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:15.441Z,1628823375.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:15.441Z,1628823375.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:15.442Z,1628823375.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:15.854Z,1628823375.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C16,000,0085B,189,80,80,81,FF
2021-08-13T02:56:15.854Z,1628823375.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:15.855Z,1628823375.855 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:15.859Z,1628823375.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:16.295Z,1628823376.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:16.653Z,1628823376.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B76,000,0083D,189,80,80,73,FF
2021-08-13T02:56:16.654Z,1628823376.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:17.085Z,1628823377.085 [Micromodem](INFO): Nmea in: $SNTTA,0.065001,,,,025617.38*4E

2021-08-13T02:56:17.123Z,1628823377.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.040009 m, bearing: 192.095205 deg, deltaT: 4.441290 s, approachRate: -0.405287 m/s, LOS rate: 0.118977 deg/s, posRepo size: 4
2021-08-13T02:56:17.125Z,1628823377.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.040009 m,
      bearing: 192.095205 deg,
      approachRate: -0.405287 m/s,
      LOS rate: 0.118977 deg/s,
      cmd update: 0.356931 deg/s,
      cmd heading: 191.566794 deg,
      new cmd heading: 191.566794 deg.

2021-08-13T02:56:19.539Z,1628823379.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:19.888Z,1628823379.888 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:19.889Z,1628823379.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:19.889Z,1628823379.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:19.890Z,1628823379.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:20.285Z,1628823380.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B76,000,0083D,189,80,80,73,FF
2021-08-13T02:56:20.285Z,1628823380.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:20.285Z,1628823380.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:20.287Z,1628823380.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:20.701Z,1628823380.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:21.550Z,1628823381.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025621.81*55

2021-08-13T02:56:22.346Z,1628823382.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:23.941Z,1628823383.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,73,FF
2021-08-13T02:56:23.941Z,1628823383.941 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,73,FF
2021-08-13T02:56:23.941Z,1628823383.941 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:56:25.171Z,1628823385.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:25.585Z,1628823385.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:25.585Z,1628823385.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:25.586Z,1628823385.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:25.586Z,1628823385.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:25.833Z,1628823385.833 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8979,4.75140,4799.66
2021-08-13T02:56:25.938Z,1628823385.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,73,FF
2021-08-13T02:56:25.938Z,1628823385.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:25.938Z,1628823385.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:25.940Z,1628823385.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:26.349Z,1628823386.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:26.766Z,1628823386.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,007F4,189,80,80,91,FF
2021-08-13T02:56:26.767Z,1628823386.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:27.198Z,1628823387.198 [Micromodem](INFO): Nmea in: $SNTTA,0.060449,,,,025627.46*49

2021-08-13T02:56:27.220Z,1628823387.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.660004 m, bearing: 195.140076 deg, deltaT: 10.145760 s, approachRate: -0.431708 m/s, LOS rate: 0.300113 deg/s, posRepo size: 4
2021-08-13T02:56:27.222Z,1628823387.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.660004 m,
      bearing: 195.140076 deg,
      approachRate: -0.431708 m/s,
      LOS rate: 0.300113 deg/s,
      cmd update: 0.900338 deg/s,
      cmd heading: 195.193929 deg,
      new cmd heading: 195.331585 deg.

2021-08-13T02:56:29.643Z,1628823389.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:29.988Z,1628823389.988 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:29.988Z,1628823389.988 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:29.989Z,1628823389.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:29.989Z,1628823389.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:30.385Z,1628823390.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,007F4,189,80,80,91,FF
2021-08-13T02:56:30.385Z,1628823390.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:30.385Z,1628823390.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:30.387Z,1628823390.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:30.821Z,1628823390.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:31.647Z,1628823391.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025631.91*55

2021-08-13T02:56:32.502Z,1628823392.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:34.061Z,1628823394.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,91,FF
2021-08-13T02:56:34.062Z,1628823394.062 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,91,FF
2021-08-13T02:56:34.062Z,1628823394.062 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:56:35.306Z,1628823395.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:35.677Z,1628823395.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:35.677Z,1628823395.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:35.677Z,1628823395.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:35.678Z,1628823395.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:36.081Z,1628823396.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,91,FF
2021-08-13T02:56:36.081Z,1628823396.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:36.081Z,1628823396.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:36.083Z,1628823396.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:36.488Z,1628823396.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:36.905Z,1628823396.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,00792,186,80,80,83,FF
2021-08-13T02:56:36.906Z,1628823396.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:37.325Z,1628823397.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025637.60*5D

2021-08-13T02:56:37.359Z,1628823397.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.779999 m, bearing: 183.977033 deg, deltaT: 10.163756 s, approachRate: -0.578527 m/s, LOS rate: -1.098319 deg/s, posRepo size: 4
2021-08-13T02:56:37.361Z,1628823397.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.779999 m,
      bearing: 183.977033 deg,
      approachRate: -0.578527 m/s,
      LOS rate: -1.098319 deg/s,
      cmd update: -3.294956 deg/s,
      cmd heading: 204.348744 deg,
      new cmd heading: 204.669869 deg.

2021-08-13T02:56:39.803Z,1628823399.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:40.125Z,1628823400.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:40.125Z,1628823400.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:40.126Z,1628823400.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:40.126Z,1628823400.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:40.521Z,1628823400.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,00792,186,80,80,83,FF
2021-08-13T02:56:40.521Z,1628823400.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:40.521Z,1628823400.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:40.523Z,1628823400.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:40.937Z,1628823400.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:41.329Z,1628823401.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,00767,188,80,80,99,FF
2021-08-13T02:56:41.330Z,1628823401.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:41.833Z,1628823401.833 [Micromodem](INFO): Nmea in: $SNTTA,0.081263,,,,025642.04*4D

2021-08-13T02:56:41.948Z,1628823401.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.200005 m, bearing: 181.370742 deg, deltaT: 4.365864 s, approachRate: -0.590947 m/s, LOS rate: -0.596970 deg/s, posRepo size: 4
2021-08-13T02:56:41.950Z,1628823401.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.200005 m,
      bearing: 181.370742 deg,
      approachRate: -0.590947 m/s,
      LOS rate: -0.596970 deg/s,
      cmd update: -1.790911 deg/s,
      cmd heading: 189.965013 deg,
      new cmd heading: 188.066535 deg.

2021-08-13T02:56:43.932Z,1628823403.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:44.230Z,1628823404.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:44.231Z,1628823404.231 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:44.231Z,1628823404.231 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:44.232Z,1628823404.232 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:44.629Z,1628823404.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,00767,188,80,80,99,FF
2021-08-13T02:56:44.629Z,1628823404.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:44.629Z,1628823404.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:44.631Z,1628823404.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:45.046Z,1628823405.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:45.438Z,1628823405.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,0073F,186,80,80,96,FF
2021-08-13T02:56:45.438Z,1628823405.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:45.862Z,1628823405.862 [Micromodem](INFO): Nmea in: $SNTTA,0.343371,0.343440,,,025646.15*5C

2021-08-13T02:56:45.976Z,1628823405.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 186.738123 deg, deltaT: 4.108038 s, approachRate: -0.584223 m/s, LOS rate: 1.306556 deg/s, posRepo size: 4
2021-08-13T02:56:45.978Z,1628823405.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 186.738123 deg,
      approachRate: -0.584223 m/s,
      LOS rate: 1.306556 deg/s,
      cmd update: 3.919668 deg/s,
      cmd heading: 182.601317 deg,
      new cmd heading: 181.719549 deg.

2021-08-13T02:56:47.892Z,1628823407.892 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:56:48.282Z,1628823408.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:48.684Z,1628823408.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:48.684Z,1628823408.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:48.685Z,1628823408.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:48.685Z,1628823408.685 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:49.077Z,1628823409.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,0073F,186,80,80,96,FF
2021-08-13T02:56:49.077Z,1628823409.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:49.078Z,1628823409.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:49.079Z,1628823409.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:49.481Z,1628823409.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:49.893Z,1628823409.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,052,000,00714,184,80,80,AA,FF
2021-08-13T02:56:49.894Z,1628823409.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:56:50.325Z,1628823410.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025650.60*5C

2021-08-13T02:56:50.344Z,1628823410.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 188.914986 deg, deltaT: 4.505893 s, approachRate: -0.572582 m/s, LOS rate: 0.483115 deg/s, posRepo size: 4
2021-08-13T02:56:50.346Z,1628823410.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 188.914986 deg,
      approachRate: -0.572582 m/s,
      LOS rate: 0.483115 deg/s,
      cmd update: 1.449344 deg/s,
      cmd heading: 200.203964 deg,
      new cmd heading: 201.668967 deg.

2021-08-13T02:56:52.731Z,1628823412.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:53.121Z,1628823413.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:53.121Z,1628823413.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:53.121Z,1628823413.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:53.122Z,1628823413.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:53.549Z,1628823413.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
052,000,00714,184,80,80,AA,FF
2021-08-13T02:56:53.550Z,1628823413.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:53.550Z,1628823413.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:53.558Z,1628823413.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:56:54.059Z,1628823414.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:56:54.120Z,1628823414.120 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-13T02:56:54.120Z,1628823414.120 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-13T02:56:54.121Z,1628823414.121 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-13T02:56:54.121Z,1628823414.121 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:56:54.121Z,1628823414.121 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-13T02:56:54.657Z,1628823414.657 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD1561420000005D000004003E0000000000000000151D80030C5669C08C7A9710EA193A99E29C9118A510201A1316325D5FE037055319732F603A9F3C3141
2021-08-13T02:56:54.657Z,1628823414.657 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 2F05E2AD71DB37911BAF22A4107120B55100
2021-08-13T02:56:54.657Z,1628823414.657 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T02:56:54.958Z,1628823414.958 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T02:56:54.987Z,1628823414.987 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:56:55.347Z,1628823415.347 [Micromodem](INFO): Nmea in: $CADRQ,025656,1,10,0,64,1*74

2021-08-13T02:56:55.348Z,1628823415.348 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561420000005D000004003E0000000000000000151D80030C5669C08C7A9710EA193A99E29C9118A510201A1316325D5FE037055319732F603A9F3C3141*4F

2021-08-13T02:56:55.494Z,1628823415.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:55.777Z,1628823415.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025655.08*57

2021-08-13T02:56:55.778Z,1628823415.778 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,025655.08*57

2021-08-13T02:56:56.973Z,1628823416.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,184,80,80,AA,FF
2021-08-13T02:56:56.973Z,1628823416.973 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,184,80,80,AA,FF
2021-08-13T02:56:56.974Z,1628823416.974 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:56:56.975Z,1628823416.975 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T02:56:57.382Z,1628823417.382 [Micromodem](INFO): Nmea in: $CADRQ,025656,1,10,0,64,2*77

2021-08-13T02:56:57.383Z,1628823417.383 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,2F05E2AD71DB37911BAF22A4107120B55100*31

2021-08-13T02:56:57.794Z,1628823417.794 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-13T02:56:57.800Z,1628823417.800 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:56:58.186Z,1628823418.186 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-13T02:56:58.203Z,1628823418.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:56:58.577Z,1628823418.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:56:58.577Z,1628823418.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:56:58.577Z,1628823418.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:56:58.578Z,1628823418.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:56:59.005Z,1628823419.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,AA,FF
2021-08-13T02:56:59.005Z,1628823419.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:56:59.005Z,1628823419.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:56:59.007Z,1628823419.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:00.618Z,1628823420.618 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-13T02:57:00.618Z,1628823420.618 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-13T02:57:00.837Z,1628823420.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:01.011Z,1628823421.011 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,025658.891851,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5F

2021-08-13T02:57:01.011Z,1628823421.011 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,025658.891851,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5F

2021-08-13T02:57:03.564Z,1628823423.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:04.704Z,1628823424.704 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.125784
2021-08-13T02:57:06.504Z,1628823426.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:06.882Z,1628823426.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:06.882Z,1628823426.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:06.900Z,1628823426.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:06.901Z,1628823426.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:07.539Z,1628823427.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,184,80,80,AA,FF
2021-08-13T02:57:07.547Z,1628823427.547 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:07.552Z,1628823427.552 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:07.605Z,1628823427.605 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T02:57:09.299Z,1628823429.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:10.338Z,1628823430.338 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:10.733Z,1628823430.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:11.139Z,1628823431.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49A,000,00651,189,80,80,A1,FF
2021-08-13T02:57:11.139Z,1628823431.139 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:11.606Z,1628823431.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025711.86*50

2021-08-13T02:57:11.641Z,1628823431.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 175.135640 deg, deltaT: 21.173225 s, approachRate: -0.552585 m/s, LOS rate: -0.650791 deg/s, posRepo size: 4
2021-08-13T02:57:11.643Z,1628823431.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 175.135640 deg,
      approachRate: -0.552585 m/s,
      LOS rate: -0.650791 deg/s,
      cmd update: -1.952373 deg/s,
      cmd heading: 230.913634 deg,
      new cmd heading: 231.611463 deg.

2021-08-13T02:57:13.669Z,1628823433.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:13.965Z,1628823433.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:13.965Z,1628823433.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:13.965Z,1628823433.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:13.966Z,1628823433.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:14.378Z,1628823434.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49A,000,00651,189,80,80,A1,FF
2021-08-13T02:57:14.378Z,1628823434.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:14.378Z,1628823434.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:14.381Z,1628823434.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:14.792Z,1628823434.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:15.174Z,1628823435.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0063C,189,80,80,C3,FF
2021-08-13T02:57:15.174Z,1628823435.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:15.625Z,1628823435.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025715.90*53

2021-08-13T02:57:15.680Z,1628823435.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 173.086815 deg, deltaT: 4.205359 s, approachRate: -0.299617 m/s, LOS rate: -0.487194 deg/s, posRepo size: 4
2021-08-13T02:57:15.682Z,1628823435.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.260006 m,
      bearing: 173.086815 deg,
      approachRate: -0.299617 m/s,
      LOS rate: -0.487194 deg/s,
      cmd update: -1.461581 deg/s,
      cmd heading: 222.703235 deg,
      new cmd heading: 222.094756 deg.

2021-08-13T02:57:17.649Z,1628823437.649 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T02:57:18.035Z,1628823438.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:18.401Z,1628823438.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:18.401Z,1628823438.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:18.401Z,1628823438.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:18.402Z,1628823438.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:18.821Z,1628823438.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0063C,189,80,80,C3,FF
2021-08-13T02:57:18.821Z,1628823438.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:18.821Z,1628823438.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:18.823Z,1628823438.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:19.220Z,1628823439.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:19.641Z,1628823439.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47F,000,00621,189,80,80,74,FF
2021-08-13T02:57:19.641Z,1628823439.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:19.645Z,1628823439.645 [Micromodem](INFO): Nmea in: $SNTTA,0.289795,0.289676,,,025720.34*57

2021-08-13T02:57:20.152Z,1628823440.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 173.763510 deg, deltaT: 4.549841 s, approachRate: -0.356056 m/s, LOS rate: 0.148729 deg/s, posRepo size: 4
2021-08-13T02:57:20.154Z,1628823440.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.640007 m,
      bearing: 173.763510 deg,
      approachRate: -0.356056 m/s,
      LOS rate: 0.148729 deg/s,
      cmd update: 0.446188 deg/s,
      cmd heading: 216.058662 deg,
      new cmd heading: 215.728874 deg.

2021-08-13T02:57:21.931Z,1628823441.931 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:57:22.615Z,1628823442.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:22.969Z,1628823442.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:22.969Z,1628823442.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:22.969Z,1628823442.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:22.970Z,1628823442.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:23.385Z,1628823443.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47F,000,00621,189,80,80,74,FF
2021-08-13T02:57:23.385Z,1628823443.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:23.386Z,1628823443.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:23.387Z,1628823443.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:23.805Z,1628823443.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:24.185Z,1628823444.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A9,000,005FE,189,80,80,56,FF
2021-08-13T02:57:24.185Z,1628823444.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:24.629Z,1628823444.629 [Micromodem](INFO): Nmea in: $SNTTA,0.068167,,,,025724.91*40

2021-08-13T02:57:24.645Z,1628823444.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 177.701168 deg, deltaT: 4.311989 s, approachRate: -0.487015 m/s, LOS rate: 0.913189 deg/s, posRepo size: 4
2021-08-13T02:57:24.647Z,1628823444.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.540005 m,
      bearing: 177.701168 deg,
      approachRate: -0.487015 m/s,
      LOS rate: 0.913189 deg/s,
      cmd update: 2.739565 deg/s,
      cmd heading: 217.973574 deg,
      new cmd heading: 218.170900 deg.

2021-08-13T02:57:27.048Z,1628823447.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:27.421Z,1628823447.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:27.421Z,1628823447.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:27.421Z,1628823447.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:27.422Z,1628823447.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:27.832Z,1628823447.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A9,000,005FE,189,80,80,56,FF
2021-08-13T02:57:27.832Z,1628823447.832 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:27.833Z,1628823447.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:27.834Z,1628823447.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:28.237Z,1628823448.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:28.633Z,1628823448.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,000,005E3,189,80,80,89,FF
2021-08-13T02:57:28.634Z,1628823448.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:29.061Z,1628823449.061 [Micromodem](INFO): Nmea in: $SNTTA,0.041877,,,,025729.35*40

2021-08-13T02:57:29.109Z,1628823449.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 169.189632 deg, deltaT: 4.424184 s, approachRate: -0.366172 m/s, LOS rate: -1.923866 deg/s, posRepo size: 4
2021-08-13T02:57:29.111Z,1628823449.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 169.189632 deg,
      approachRate: -0.366172 m/s,
      LOS rate: -1.923866 deg/s,
      cmd update: -5.771597 deg/s,
      cmd heading: 230.159646 deg,
      new cmd heading: 231.398960 deg.

2021-08-13T02:57:31.484Z,1628823451.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:31.871Z,1628823451.871 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:31.871Z,1628823451.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:31.871Z,1628823451.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:31.872Z,1628823451.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:32.269Z,1628823452.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,005E3,189,80,80,89,FF
2021-08-13T02:57:32.269Z,1628823452.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:32.270Z,1628823452.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:32.271Z,1628823452.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:32.673Z,1628823452.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:33.077Z,1628823453.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CC,18A,80,80,59,FF
2021-08-13T02:57:33.077Z,1628823453.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:33.512Z,1628823453.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025733.79*50

2021-08-13T02:57:33.572Z,1628823453.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 170.670977 deg, deltaT: 4.444350 s, approachRate: -0.310506 m/s, LOS rate: 0.333310 deg/s, posRepo size: 4
2021-08-13T02:57:33.574Z,1628823453.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.539997 m,
      bearing: 170.670977 deg,
      approachRate: -0.310506 m/s,
      LOS rate: 0.333310 deg/s,
      cmd update: 0.999929 deg/s,
      cmd heading: 204.513144 deg,
      new cmd heading: 201.753991 deg.

2021-08-13T02:57:35.987Z,1628823455.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:36.321Z,1628823456.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:36.321Z,1628823456.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:36.321Z,1628823456.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:36.322Z,1628823456.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:36.705Z,1628823456.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CC,18A,80,80,59,FF
2021-08-13T02:57:36.706Z,1628823456.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:36.706Z,1628823456.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:36.707Z,1628823456.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:37.127Z,1628823457.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:37.566Z,1628823457.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,406,000,005B2,189,80,80,99,FF
2021-08-13T02:57:37.566Z,1628823457.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:37.961Z,1628823457.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025738.23*54

2021-08-13T02:57:38.006Z,1628823458.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 171.010889 deg, deltaT: 4.548346 s, approachRate: -0.342980 m/s, LOS rate: 0.074733 deg/s, posRepo size: 4
2021-08-13T02:57:38.012Z,1628823458.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 171.010889 deg,
      approachRate: -0.342980 m/s,
      LOS rate: 0.074733 deg/s,
      cmd update: 0.224199 deg/s,
      cmd heading: 209.054034 deg,
      new cmd heading: 209.425011 deg.

2021-08-13T02:57:40.390Z,1628823460.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:40.764Z,1628823460.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:40.764Z,1628823460.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:40.765Z,1628823460.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:40.766Z,1628823460.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:41.150Z,1628823461.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
406,000,005B2,189,80,80,99,FF
2021-08-13T02:57:41.150Z,1628823461.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:41.151Z,1628823461.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:41.154Z,1628823461.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:41.641Z,1628823461.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:42.451Z,1628823462.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025742.67*59

2021-08-13T02:57:42.905Z,1628823462.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:44.473Z,1628823464.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,99,FF
2021-08-13T02:57:44.473Z,1628823464.473 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,99,FF
2021-08-13T02:57:44.474Z,1628823464.474 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:57:45.450Z,1628823465.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:45.673Z,1628823465.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:45.673Z,1628823465.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:45.673Z,1628823465.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:45.674Z,1628823465.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:46.085Z,1628823466.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,99,FF
2021-08-13T02:57:46.085Z,1628823466.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:46.085Z,1628823466.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:46.087Z,1628823466.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:46.484Z,1628823466.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:46.897Z,1628823466.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A0,000,0056E,189,80,80,9C,FF
2021-08-13T02:57:46.897Z,1628823466.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:47.330Z,1628823467.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025747.61*5A

2021-08-13T02:57:47.522Z,1628823467.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 158.212426 deg, deltaT: 9.321135 s, approachRate: -0.437716 m/s, LOS rate: -1.373058 deg/s, posRepo size: 4
2021-08-13T02:57:47.569Z,1628823467.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.899998 m,
      bearing: 158.212426 deg,
      approachRate: -0.437716 m/s,
      LOS rate: -1.373058 deg/s,
      cmd update: -4.119175 deg/s,
      cmd heading: 211.143794 deg,
      new cmd heading: 211.269239 deg.

2021-08-13T02:57:47.810Z,1628823467.810 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T02:57:49.874Z,1628823469.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:50.169Z,1628823470.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:50.169Z,1628823470.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:50.169Z,1628823470.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:50.170Z,1628823470.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:50.569Z,1628823470.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A0,000,0056E,189,80,80,9C,FF
2021-08-13T02:57:50.569Z,1628823470.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:50.569Z,1628823470.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:50.571Z,1628823470.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:50.984Z,1628823470.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:51.377Z,1628823471.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,491,000,0054A,189,80,80,9B,FF
2021-08-13T02:57:51.378Z,1628823471.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:51.845Z,1628823471.845 [Micromodem](INFO): Nmea in: $SNTTA,0.058111,,,,025752.09*42

2021-08-13T02:57:52.058Z,1628823472.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 157.172625 deg, deltaT: 4.483690 s, approachRate: -0.481746 m/s, LOS rate: -0.231907 deg/s, posRepo size: 4
2021-08-13T02:57:52.060Z,1628823472.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.739998 m,
      bearing: 157.172625 deg,
      approachRate: -0.481746 m/s,
      LOS rate: -0.231907 deg/s,
      cmd update: -0.695722 deg/s,
      cmd heading: 192.642313 deg,
      new cmd heading: 190.129076 deg.

2021-08-13T02:57:54.091Z,1628823474.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:54.329Z,1628823474.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:54.329Z,1628823474.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:54.329Z,1628823474.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:54.330Z,1628823474.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:54.727Z,1628823474.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
491,000,0054A,189,80,80,9B,FF
2021-08-13T02:57:54.727Z,1628823474.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:54.728Z,1628823474.728 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:54.730Z,1628823474.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:55.128Z,1628823475.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:55.554Z,1628823475.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,0052D,189,80,80,80,FF
2021-08-13T02:57:55.555Z,1628823475.555 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:57:55.950Z,1628823475.950 [Micromodem](INFO): Nmea in: $SNTTA,0.059664,0.336051,,,025756.25*50

2021-08-13T02:57:55.976Z,1628823475.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 161.633517 deg, deltaT: 4.210907 s, approachRate: -0.413212 m/s, LOS rate: 1.059366 deg/s, posRepo size: 4
2021-08-13T02:57:55.978Z,1628823475.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.000000 m,
      bearing: 161.633517 deg,
      approachRate: -0.413212 m/s,
      LOS rate: 1.059366 deg/s,
      cmd update: 3.178098 deg/s,
      cmd heading: 189.715371 deg,
      new cmd heading: 189.491934 deg.

2021-08-13T02:57:57.680Z,1628823477.680 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T02:57:57.680Z,1628823477.680 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T02:57:57.680Z,1628823477.680 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T02:57:57.775Z,1628823477.775 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T02:57:58.168Z,1628823478.168 [RDI_Pathfinder](INFO): Powering down
2021-08-13T02:57:58.238Z,1628823478.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:57:58.421Z,1628823478.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:57:58.421Z,1628823478.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:57:58.421Z,1628823478.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:57:58.422Z,1628823478.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:57:58.829Z,1628823478.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,0052D,189,80,80,80,FF
2021-08-13T02:57:58.829Z,1628823478.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:57:58.830Z,1628823478.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:57:58.831Z,1628823478.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:57:59.029Z,1628823479.029 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T02:57:59.030Z,1628823479.030 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T02:57:59.220Z,1628823479.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:57:59.625Z,1628823479.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F8,000,0050C,189,80,80,96,FF
2021-08-13T02:57:59.626Z,1628823479.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:58:00.057Z,1628823480.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025800.35*57

2021-08-13T02:58:00.057Z,1628823480.057 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-13T02:58:00.235Z,1628823480.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 161.959713 deg, deltaT: 3.996839 s, approachRate: -0.495392 m/s, LOS rate: 0.081614 deg/s, posRepo size: 4
2021-08-13T02:58:00.238Z,1628823480.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.019997 m,
      bearing: 161.959713 deg,
      approachRate: -0.495392 m/s,
      LOS rate: 0.081614 deg/s,
      cmd update: 0.244841 deg/s,
      cmd heading: 202.430614 deg,
      new cmd heading: 204.273237 deg.

2021-08-13T02:58:00.572Z,1628823480.572 [Micromodem](INFO): Outgoing frame #1, 64 bytes: B6AD1561420000005D000004003E0000000000000000151D80030C5669C08C7A9710EA193A99E29C9118A510201A1316325D5FE037055319732F603A9F3C3141
2021-08-13T02:58:00.573Z,1628823480.573 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 2F05E2AD71DB37911BAF22A4107120B55100
2021-08-13T02:58:00.573Z,1628823480.573 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-13T02:58:01.253Z,1628823481.253 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-13T02:58:01.653Z,1628823481.653 [Micromodem](INFO): Nmea in: $CADRQ,025802,1,10,0,64,1*7B

2021-08-13T02:58:01.653Z,1628823481.653 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B6AD1561420000005D000004003E0000000000000000151D80030C5669C08C7A9710EA193A99E29C9118A510201A1316325D5FE037055319732F603A9F3C3141*4F

2021-08-13T02:58:02.065Z,1628823482.065 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-13T02:58:02.450Z,1628823482.450 [Micromodem](INFO): Nmea in: $CADRQ,025803,1,10,0,64,2*79

2021-08-13T02:58:02.451Z,1628823482.451 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,2F05E2AD71DB37911BAF22A4107120B55100*31

2021-08-13T02:58:02.526Z,1628823482.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:02.858Z,1628823482.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:02.858Z,1628823482.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:02.858Z,1628823482.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:02.859Z,1628823482.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:02.865Z,1628823482.865 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-13T02:58:03.257Z,1628823483.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F8,000,0050C,189,80,80,96,FF
2021-08-13T02:58:03.257Z,1628823483.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:03.257Z,1628823483.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:03.259Z,1628823483.259 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-13T02:58:03.260Z,1628823483.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:58:05.306Z,1628823485.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:05.678Z,1628823485.678 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-13T02:58:05.678Z,1628823485.678 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-13T02:58:06.087Z,1628823486.087 [Micromodem](INFO): Nmea in: $CAXST,7,20210813,025803.961745,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5B

2021-08-13T02:58:06.087Z,1628823486.087 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210813,025803.961745,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5B

2021-08-13T02:58:08.214Z,1628823488.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:08.514Z,1628823488.514 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-13T02:58:08.936Z,1628823488.936 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.076853
2021-08-13T02:58:08.938Z,1628823488.938 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-13T02:58:08.938Z,1628823488.938 [Micromodem](INFO): Sent 74 bytes from file Logs/20210812T232438/Courier0066.lzma.parts
2021-08-13T02:58:08.938Z,1628823488.938 [Micromodem](INFO): Packets left to send: 0
2021-08-13T02:58:09.322Z,1628823489.322 [Micromodem](INFO): Nmea in: $CACST,6,0,20210813025808.664221,06,32364,45,0111,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.8,3.89,07,-0.89,-01,-0.46,42,14500,4000*4A

2021-08-13T02:58:09.322Z,1628823489.322 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210813025808.664221,06,32364,45,0111,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.8,3.89,07,-0.89,-01,-0.46,42,14500,4000*4A

2021-08-13T02:58:09.507Z,1628823489.507 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-13T02:58:09.508Z,1628823489.508 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-13T02:58:09.508Z,1628823489.508 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-13T02:58:09.508Z,1628823489.508 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-13T02:58:09.508Z,1628823489.508 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-13T02:58:11.252Z,1628823491.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:11.433Z,1628823491.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:11.433Z,1628823491.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:11.433Z,1628823491.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:11.434Z,1628823491.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:11.842Z,1628823491.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F8,000,0050C,189,80,80,96,FF
2021-08-13T02:58:11.842Z,1628823491.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:11.842Z,1628823491.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:12.269Z,1628823492.269 [lineCaptureDepth](INFO): Timed out from 2021-08-13T02:13:11.9Z
2021-08-13T02:58:12.269Z,1628823492.269 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-13T02:58:12.269Z,1628823492.269 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-13T02:58:12.269Z,1628823492.269 [lineCaptureDepth] Stopped
2021-08-13T02:58:12.269Z,1628823492.269 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-13T02:58:12.269Z,1628823492.269 [lineCaptureDepth:Science] Stopped
2021-08-13T02:58:12.269Z,1628823492.269 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:B] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:C] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T02:58:12.270Z,1628823492.270 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:TrackAC.] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T02:58:12.271Z,1628823492.271 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T02:58:12.272Z,1628823492.272 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T02:58:12.272Z,1628823492.272 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T02:58:12.272Z,1628823492.272 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T02:58:12.272Z,1628823492.272 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-13T02:58:12.273Z,1628823492.273 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-13T02:58:12.274Z,1628823492.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:Lap] Stopped
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-13T02:58:12.275Z,1628823492.275 [lineCaptureDepth:Lap:B] Stopped
2021-08-13T02:58:12.280Z,1628823492.280 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-13T02:58:12.488Z,1628823492.488 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T02:58:12.661Z,1628823492.661 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T02:58:12.661Z,1628823492.661 [DefaultWithUndock] Running Loop=1
2021-08-13T02:58:12.661Z,1628823492.661 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T02:58:12.661Z,1628823492.661 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T02:58:12.661Z,1628823492.661 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T02:58:14.635Z,1628823494.635 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:58:15.040Z,1628823495.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:58:15.855Z,1628823495.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025816.16*51

2021-08-13T02:58:41.722Z,1628823521.722 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T02:58:42.963Z,1628823522.963 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T02:58:42.968Z,1628823522.968 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T02:58:42.968Z,1628823522.968 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T02:58:42.968Z,1628823522.968 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T02:58:42.968Z,1628823522.968 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T02:58:43.753Z,1628823523.753 [PowerOnly](INFO): Powering up loadControl
2021-08-13T02:58:44.588Z,1628823524.588 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:33.153854
2021-08-13T02:58:45.864Z,1628823525.864 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:46.215Z,1628823526.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:46.216Z,1628823526.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:46.216Z,1628823526.216 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:46.217Z,1628823526.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:46.261Z,1628823526.261 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T02:58:46.597Z,1628823526.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F8,000,0050C,189,80,80,96,FF
2021-08-13T02:58:46.597Z,1628823526.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:46.597Z,1628823526.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:46.599Z,1628823526.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:58:46.686Z,1628823526.686 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-13T02:58:47.005Z,1628823527.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:58:47.037Z,1628823527.037 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-13T02:58:47.405Z,1628823527.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00458,189,80,80,80,FF
2021-08-13T02:58:47.405Z,1628823527.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:58:47.477Z,1628823527.477 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T02:58:47.849Z,1628823527.849 [Micromodem](INFO): Nmea in: $SNTTA,0.057114,,,,025848.13*47

2021-08-13T02:58:50.246Z,1628823530.246 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:50.629Z,1628823530.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:50.629Z,1628823530.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:50.630Z,1628823530.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:50.631Z,1628823530.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:51.037Z,1628823531.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00458,189,80,80,80,FF
2021-08-13T02:58:51.038Z,1628823531.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:51.038Z,1628823531.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:51.039Z,1628823531.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:58:51.453Z,1628823531.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:58:51.849Z,1628823531.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00449,189,80,80,AE,FF
2021-08-13T02:58:51.849Z,1628823531.849 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:58:52.282Z,1628823532.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025852.56*55

2021-08-13T02:58:54.694Z,1628823534.694 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:55.077Z,1628823535.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:55.077Z,1628823535.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:55.077Z,1628823535.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:55.078Z,1628823535.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:55.485Z,1628823535.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00449,189,80,80,AE,FF
2021-08-13T02:58:55.485Z,1628823535.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:55.486Z,1628823535.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:55.487Z,1628823535.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:58:55.898Z,1628823535.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:58:56.285Z,1628823536.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0044E,189,80,80,54,FF
2021-08-13T02:58:56.286Z,1628823536.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:58:56.729Z,1628823536.729 [Micromodem](INFO): Nmea in: $SNTTA,0.074272,,,,025857.01*48

2021-08-13T02:58:59.148Z,1628823539.148 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:58:59.525Z,1628823539.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:58:59.525Z,1628823539.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:58:59.525Z,1628823539.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:58:59.526Z,1628823539.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:58:59.929Z,1628823539.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0044E,189,80,80,54,FF
2021-08-13T02:58:59.929Z,1628823539.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:58:59.929Z,1628823539.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:58:59.931Z,1628823539.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:59:00.341Z,1628823540.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:59:00.760Z,1628823540.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00441,189,80,80,B2,FF
2021-08-13T02:59:00.761Z,1628823540.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T02:59:01.166Z,1628823541.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025901.45*50

2021-08-13T02:59:03.597Z,1628823543.597 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:59:03.978Z,1628823543.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:59:03.978Z,1628823543.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:59:03.978Z,1628823543.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:59:03.979Z,1628823543.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:59:04.373Z,1628823544.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00441,189,80,80,B2,FF
2021-08-13T02:59:04.373Z,1628823544.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:59:04.373Z,1628823544.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:59:04.375Z,1628823544.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:59:04.792Z,1628823544.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:59:05.594Z,1628823545.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,025905.90*5C

2021-08-13T02:59:06.405Z,1628823546.405 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:59:07.664Z,1628823547.664 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 27.84 m. Transitioning DDM to standby.
2021-08-13T02:59:08.009Z,1628823548.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,B2,FF
2021-08-13T02:59:08.009Z,1628823548.009 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,B2,FF
2021-08-13T02:59:08.009Z,1628823548.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-13T02:59:09.233Z,1628823549.233 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T02:59:09.625Z,1628823549.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T02:59:09.625Z,1628823549.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T02:59:09.625Z,1628823549.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T02:59:09.626Z,1628823549.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T02:59:10.053Z,1628823550.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,B2,FF
2021-08-13T02:59:10.053Z,1628823550.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T02:59:10.053Z,1628823550.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T02:59:10.055Z,1628823550.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T02:59:10.161Z,1628823550.161 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T02:59:10.436Z,1628823550.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T02:59:10.479Z,1628823550.479 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T02:59:10.479Z,1628823550.479 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T02:59:10.480Z,1628823550.480 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T02:59:10.480Z,1628823550.480 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T02:59:10.480Z,1628823550.480 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T02:59:10.480Z,1628823550.480 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T02:59:10.481Z,1628823550.481 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T02:59:10.482Z,1628823550.482 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T02:59:10.482Z,1628823550.482 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T02:59:10.482Z,1628823550.482 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T02:59:10.483Z,1628823550.483 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T02:59:10.483Z,1628823550.483 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T02:59:11.251Z,1628823551.251 [Micromodem](INFO): Nmea in: $SNTTA,0.048633,,,,025911.58*49

2021-08-13T02:59:11.396Z,1628823551.396 [Radio_Surface](INFO): Powering up
2021-08-13T02:59:17.029Z,1628823557.029 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T02:59:40.749Z,1628823580.749 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T02:59:40.749Z,1628823580.749 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T02:59:40.749Z,1628823580.749 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T02:59:40.749Z,1628823580.749 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T02:59:40.750Z,1628823580.750 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T02:59:40.750Z,1628823580.750 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T02:59:40.750Z,1628823580.750 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T02:59:47.156Z,1628823587.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:00:07.774Z,1628823607.774 [NAL9602](INFO): SBD MO Status=0, MOMSN=23620, MT Status=0, MTMSN=0
2021-08-13T03:00:07.774Z,1628823607.774 [NAL9602](INFO): No messages in MT queue
2021-08-13T03:00:08.984Z,1628823608.984 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030008.00,A,4133.19033,N,07042.44688,W,1.361,156.85,130821,,,A*7E
2021-08-13T03:00:08.987Z,1628823608.987 [NAL9602](INFO): GPS fix at 20210813T030008: (41.553172, -70.707448)
2021-08-13T03:00:09.008Z,1628823609.008 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T03:00:09.009Z,1628823609.009 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T03:00:15.647Z,1628823615.647 [PowerOnly](INFO): Powering down loadControl
2021-08-13T03:00:22.296Z,1628823622.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:00:22.935Z,1628823622.935 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:00:25.366Z,1628823625.366 [NAL9602](INFO): SBD MO Status=1, MOMSN=23621, MT Status=0, MTMSN=0
2021-08-13T03:00:25.428Z,1628823625.428 [NAL9602](INFO): Sent 78 bytes from file Logs/20210812T232438/Courier0069.lzma
2021-08-13T03:00:25.428Z,1628823625.428 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:00:26.213Z,1628823626.213 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:00:28.363Z,1628823628.363 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813030026.753614,06,86,19,0128,0150,208,02,02,00,02,-1,-01,-01,1,3,5,0,150,6.8,0.14,-100,2.86,-01,-1.37,66,14500,4000*62

2021-08-13T03:00:34.800Z,1628823634.800 [NAL9602](INFO): SBD MO Status=1, MOMSN=23622, MT Status=0, MTMSN=0
2021-08-13T03:00:34.852Z,1628823634.852 [NAL9602](INFO): Sent 61 bytes from file Logs/20210812T232438/Express0058.lzma
2021-08-13T03:00:34.852Z,1628823634.852 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:00:55.229Z,1628823655.229 [NAL9602](INFO): SBD MO Status=1, MOMSN=23623, MT Status=0, MTMSN=0
2021-08-13T03:00:55.276Z,1628823655.276 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0061.lzma
2021-08-13T03:00:55.276Z,1628823655.276 [NAL9602](INFO): Packets left to send: 2
2021-08-13T03:00:57.436Z,1628823657.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:01:06.312Z,1628823666.312 [NAL9602](INFO): SBD MO Status=1, MOMSN=23624, MT Status=0, MTMSN=0
2021-08-13T03:01:06.372Z,1628823666.372 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0061.lzma
2021-08-13T03:01:06.372Z,1628823666.372 [NAL9602](INFO): Packets left to send: 1
2021-08-13T03:01:18.573Z,1628823678.573 [NAL9602](INFO): SBD MO Status=1, MOMSN=23625, MT Status=0, MTMSN=0
2021-08-13T03:01:18.624Z,1628823678.624 [NAL9602](INFO): Sent 21 bytes from file Logs/20210812T232438/Express0061.lzma
2021-08-13T03:01:18.625Z,1628823678.625 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:01:28.081Z,1628823688.081 [NAL9602](INFO): SBD MO Status=1, MOMSN=23626, MT Status=0, MTMSN=0
2021-08-13T03:01:28.134Z,1628823688.134 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0064.lzma
2021-08-13T03:01:28.134Z,1628823688.134 [NAL9602](INFO): Packets left to send: 3
2021-08-13T03:01:32.576Z,1628823692.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:01:42.966Z,1628823702.966 [NAL9602](INFO): SBD MO Status=1, MOMSN=23627, MT Status=0, MTMSN=0
2021-08-13T03:01:43.016Z,1628823703.016 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0064.lzma
2021-08-13T03:01:43.016Z,1628823703.016 [NAL9602](INFO): Packets left to send: 2
2021-08-13T03:01:57.276Z,1628823717.276 [NAL9602](INFO): SBD MO Status=1, MOMSN=23628, MT Status=0, MTMSN=0
2021-08-13T03:01:57.341Z,1628823717.341 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0064.lzma
2021-08-13T03:01:57.342Z,1628823717.342 [NAL9602](INFO): Packets left to send: 1
2021-08-13T03:02:07.716Z,1628823727.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:02:10.412Z,1628823730.412 [NAL9602](INFO): SBD MO Status=1, MOMSN=23629, MT Status=0, MTMSN=0
2021-08-13T03:02:10.464Z,1628823730.464 [NAL9602](INFO): Sent 14 bytes from file Logs/20210812T232438/Express0064.lzma
2021-08-13T03:02:10.464Z,1628823730.464 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:02:17.095Z,1628823737.095 [NAL9602](INFO): SBD MO Status=1, MOMSN=23630, MT Status=0, MTMSN=0
2021-08-13T03:02:17.171Z,1628823737.171 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0067.lzma
2021-08-13T03:02:17.173Z,1628823737.173 [NAL9602](INFO): Packets left to send: 2
2021-08-13T03:02:24.915Z,1628823744.915 [NAL9602](INFO): SBD MO Status=1, MOMSN=23631, MT Status=0, MTMSN=0
2021-08-13T03:02:24.973Z,1628823744.973 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0067.lzma
2021-08-13T03:02:24.974Z,1628823744.974 [NAL9602](INFO): Packets left to send: 1
2021-08-13T03:02:35.612Z,1628823755.612 [NAL9602](INFO): SBD MO Status=1, MOMSN=23632, MT Status=0, MTMSN=0
2021-08-13T03:02:35.668Z,1628823755.668 [NAL9602](INFO): Sent 166 bytes from file Logs/20210812T232438/Express0067.lzma
2021-08-13T03:02:35.668Z,1628823755.668 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:02:36.836Z,1628823756.836 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003301
2021-08-13T03:02:40.852Z,1628823760.852 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20210812T232438/Express0070.lzma
2021-08-13T03:02:41.854Z,1628823761.854 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0070.lzma.bak
2021-08-13T03:02:41.854Z,1628823761.854 [DataOverHttps](INFO): SBD MOMSN=429535
2021-08-13T03:02:42.262Z,1628823762.262 [NAL9602](INFO): SBD MO Status=1, MOMSN=23633, MT Status=0, MTMSN=0
2021-08-13T03:02:42.312Z,1628823762.312 [NAL9602](INFO): Sent 175 bytes from file Logs/20210812T232438/Express0070.lzma
2021-08-13T03:02:42.312Z,1628823762.312 [NAL9602](INFO): Packets left to send: 0
2021-08-13T03:02:43.521Z,1628823763.521 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T03:02:43.522Z,1628823763.522 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T03:02:43.522Z,1628823763.522 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T03:03:12.959Z,1628823792.959 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T03:06:30.131Z,1628823990.131 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:06:30.151Z,1628823990.151 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813030630.748513,06,136,21,0117,0150,208,02,02,00,02,-1,-01,-01,1,3,1,0,150,8.1,0.07,-100,2.93,-01,-4.96,66,14500,4000*5B

2021-08-13T03:06:59.691Z,1628824019.691 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:07:12.144Z,1628824032.144 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:07:12.149Z,1628824032.149 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813030712.747918,06,307,24,0108,0150,208,02,02,00,02,-1,-01,-01,1,3,1,0,150,10.3,-0.88,-100,3.88,-01,3.67,63,14500,4000*62

2021-08-13T03:07:33.981Z,1628824053.981 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T03:07:44.073Z,1628824064.073 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T03:07:44.073Z,1628824064.073 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T03:07:44.073Z,1628824064.073 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T03:07:44.074Z,1628824064.074 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T03:07:44.472Z,1628824064.472 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T03:07:44.472Z,1628824064.472 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T03:07:44.888Z,1628824064.888 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.530187 min 
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:07:44.889Z,1628824064.889 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T03:07:46.899Z,1628824066.899 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,030746.00,A,4133.21371,N,07042.37820,W,0.253,25.00,130821,,,A*4C
2021-08-13T03:07:46.902Z,1628824066.902 [NAL9602](INFO): GPS fix at 20210813T030746: (41.553562, -70.706303)
2021-08-13T03:07:46.923Z,1628824066.923 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T03:07:46.923Z,1628824066.923 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T03:07:51.191Z,1628824071.191 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20210812T232438/Courier0072.lzma
2021-08-13T03:07:52.195Z,1628824072.195 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0072.lzma.bak
2021-08-13T03:07:52.196Z,1628824072.196 [DataOverHttps](INFO): SBD MOMSN=429555
2021-08-13T03:08:01.232Z,1628824081.232 [DataOverHttps](INFO): Sending 118 bytes from file Logs/20210812T232438/Express0073.lzma
2021-08-13T03:08:02.234Z,1628824082.234 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0073.lzma.bak
2021-08-13T03:08:02.234Z,1628824082.234 [DataOverHttps](INFO): SBD MOMSN=429558
2021-08-13T03:08:03.881Z,1628824083.881 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T03:08:03.881Z,1628824083.881 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T03:08:03.881Z,1628824083.881 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T03:08:08.304Z,1628824088.304 [NAL9602](INFO): SBD MO Status=2, MOMSN=23634, MT Status=2, MTMSN=0
2021-08-13T03:08:08.304Z,1628824088.304 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-13T03:08:19.212Z,1628824099.212 [NAL9602](INFO): SBD MO Status=0, MOMSN=23634, MT Status=0, MTMSN=0
2021-08-13T03:08:19.212Z,1628824099.212 [NAL9602](INFO): No messages in MT queue
2021-08-13T03:08:49.914Z,1628824129.914 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T03:09:06.073Z,1628824146.073 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T03:09:06.074Z,1628824146.074 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T03:09:06.075Z,1628824146.075 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:09:06.478Z,1628824146.478 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813030906.745527,06,211,23,0096,0150,141,01,01,00,02,-1,-01,-01,1,3,1,0,150,-100.0,0.08,-100,2.92,-01,-1.72,-2147483648,14500,4000*55

2021-08-13T03:11:02.828Z,1628824262.828 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T03:11:02.833Z,1628824262.833 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031100.729073,06,371,19,0092,0150,208,02,02,01,02,3,-01,-01,2,3,1,0,150,0.2,11.62,13,-8.62,-01,-1.65,66,14500,4000*77

2021-08-13T03:12:48.324Z,1628824368.324 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:12:51.917Z,1628824371.917 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:12:52.315Z,1628824372.315 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031252.746112,06,202,17,0091,0150,07,01,01,01,03,-1,-01,-01,1,3,1,0,150,38.0,0.60,-100,2.40,-01,-0.47,30,14500,4000*54

2021-08-13T03:12:53.537Z,1628824373.537 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T03:13:04.441Z,1628824384.441 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-13T03:13:04.441Z,1628824384.441 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T03:13:04.441Z,1628824384.441 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T03:13:04.441Z,1628824384.441 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-13T03:13:04.852Z,1628824384.852 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-13T03:13:04.852Z,1628824384.852 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-13T03:13:05.261Z,1628824385.261 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 14.869844 min 
2021-08-13T03:13:05.261Z,1628824385.261 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-13T03:13:05.261Z,1628824385.261 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:13:05.261Z,1628824385.261 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T03:13:05.261Z,1628824385.261 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:13:05.262Z,1628824385.262 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-13T03:13:05.262Z,1628824385.262 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-13T03:13:05.262Z,1628824385.262 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:13:05.262Z,1628824385.262 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T03:13:07.274Z,1628824387.274 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031306.00,A,4133.23239,N,07042.33035,W,0.428,17.22,130821,,,A*41
2021-08-13T03:13:07.277Z,1628824387.277 [NAL9602](INFO): GPS fix at 20210813T031306: (41.553873, -70.705506)
2021-08-13T03:13:07.292Z,1628824387.292 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T03:13:07.293Z,1628824387.293 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T03:13:11.491Z,1628824391.491 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210812T232438/Courier0075.lzma
2021-08-13T03:13:12.494Z,1628824392.494 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0075.lzma.bak
2021-08-13T03:13:12.494Z,1628824392.494 [DataOverHttps](INFO): SBD MOMSN=429591
2021-08-13T03:13:13.385Z,1628824393.385 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:13:21.711Z,1628824401.711 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210812T232438/Express0076.lzma
2021-08-13T03:13:22.534Z,1628824402.534 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0076.lzma.bak
2021-08-13T03:13:22.534Z,1628824402.534 [DataOverHttps](INFO): SBD MOMSN=429596
2021-08-13T03:13:23.436Z,1628824403.436 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T03:13:23.832Z,1628824403.832 [NAL9602](INFO): SBD MO Status=0, MOMSN=23635, MT Status=0, MTMSN=0
2021-08-13T03:13:23.832Z,1628824403.832 [NAL9602](INFO): No messages in MT queue
2021-08-13T03:13:23.847Z,1628824403.847 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T03:13:23.847Z,1628824403.847 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T03:13:23.848Z,1628824403.848 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T03:13:48.075Z,1628824428.075 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:13:48.080Z,1628824428.080 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031348.751546,06,947,23,0141,0150,149,03,03,01,03,-1,-01,-01,1,3,8,0,150,7.8,-0.03,-100,3.03,-01,-0.50,60,14500,4000*77

2021-08-13T03:13:54.534Z,1628824434.534 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T03:15:41.601Z,1628824541.601 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-13T03:15:41.602Z,1628824541.602 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-13T03:15:41.604Z,1628824541.604 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:15:42.016Z,1628824542.016 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031540.747182,06,101,20,0096,0150,208,02,02,00,02,-1,-01,-01,1,3,3,0,150,77.3,5.64,-100,-2.64,-01,-4.24,-12,14500,4000*6A

2021-08-13T03:16:08.283Z,1628824568.283 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:16:08.288Z,1628824568.288 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031608.744939,06,169,22,0101,0150,141,01,01,00,01,-1,-01,-01,1,3,1,0,150,20.7,0.58,-100,2.42,-01,0.85,58,14500,4000*46

2021-08-13T03:16:46.259Z,1628824606.259 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-13T03:16:46.263Z,1628824606.263 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031644.744936,06,1018,24,0156,0150,208,02,02,01,02,6,-01,-01,2,3,3,0,150,6.6,3.40,10,-0.40,-01,-4.26,63,14500,4000*73

2021-08-13T03:16:59.414Z,1628824619.414 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T031658
2021-08-13T03:17:03.432Z,1628824623.432 [DataOverHttps](INFO): Received command:sched asap "load Science/profile_station.xml;set profile_station.MissionTimeout 590 min;set profile_station.NeedCommsTime 180 min;set profile_station.Lat 41.55311 degree;set profile_station.Lon -70.70716 degree" 2ojs4 1 3
2021-08-13T03:17:03.522Z,1628824623.522 [CommandLine](IMPORTANT): got command schedule asap "load Science/profile_station.xml;set profile_station.MissionTimeout 590 min;set profile_station.NeedCommsTime 180 min;set profile_station.Lat 41.55311 degree;set profile_station.Lon -70.70716 degree" 2ojs4 1 3.000000
2021-08-13T03:17:03.523Z,1628824623.523 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=2ojs4
2021-08-13T03:17:03.525Z,1628824623.525 [CommandLine](IMPORTANT): Scheduled #7 (#1 of 3 with id='2ojs4'): "load Science/profile_station.xml;set profile_station.MissionTimeout 590 min;set profile_station.NeedCommsTime 180 min;set profile_station.Lat 41.55311 degree;set profile_station.Lon -70.70716 degree" ASAP
2021-08-13T03:17:04.434Z,1628824624.434 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T031703
2021-08-13T03:17:08.464Z,1628824628.464 [DataOverHttps](INFO): Received command:sched asap "set profile_station.YoYoMinDepth 3 m;set profile_station.YoYoMaxDepth 7 m;set profile_station.YoYoMinAltitude 3 m;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 m;set profile_station.MaxDepth 9 m" 2ojs4 2 3
2021-08-13T03:17:08.475Z,1628824628.475 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.YoYoMinDepth 3 m;set profile_station.YoYoMaxDepth 7 m;set profile_station.YoYoMinAltitude 3 m;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 m;set profile_station.MaxDepth 9 m" 2ojs4 2 3.000000
2021-08-13T03:17:08.475Z,1628824628.475 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=2ojs4
2021-08-13T03:17:08.476Z,1628824628.476 [CommandLine](IMPORTANT): Scheduled #8 (#2 of 3 with id='2ojs4'): "set profile_station.YoYoMinDepth 3 m;set profile_station.YoYoMaxDepth 7 m;set profile_station.YoYoMinAltitude 3 m;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 m;set profile_station.MaxDepth 9 m" ASAP
2021-08-13T03:17:09.465Z,1628824629.465 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T031708
2021-08-13T03:17:13.484Z,1628824633.484 [DataOverHttps](INFO): Received command:sched asap "set profile_station.MinOffshore 500 m;run" 2ojs4 3 3
2021-08-13T03:17:13.517Z,1628824633.517 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.MinOffshore 500 m;run" 2ojs4 3 3.000000
2021-08-13T03:17:13.518Z,1628824633.518 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=2ojs4
2021-08-13T03:17:13.519Z,1628824633.519 [CommandLine](IMPORTANT): Scheduled #9 (#3 of 3 with id='2ojs4'): "set profile_station.MinOffshore 500 m;run" ASAP
2021-08-13T03:17:13.782Z,1628824633.782 [CommandLine](IMPORTANT): got command load ./Missions/Science/profile_station.xml
2021-08-13T03:17:13.783Z,1628824633.783 [MissionManager](INFO): Loading Mission: ./Missions/Science/profile_station.xml
2021-08-13T03:17:13.911Z,1628824633.911 [MissionManager](INFO): DefineArg profile_station.MissionTimeout = 4.000000 h
2021-08-13T03:17:13.915Z,1628824633.915 [MissionManager](INFO): DefineArg profile_station.NeedCommsTime = 60.000000 min
2021-08-13T03:17:13.918Z,1628824633.918 [MissionManager](INFO): DefineArg profile_station.Lat = 36.806966 arcdeg
2021-08-13T03:17:13.922Z,1628824633.922 [MissionManager](INFO): DefineArg profile_station.Lon = -121.824326 arcdeg
2021-08-13T03:17:13.925Z,1628824633.925 [MissionManager](INFO): DefineArg profile_station.Radius = 300.000000 m
2021-08-13T03:17:13.928Z,1628824633.928 [MissionManager](INFO): DefineArg profile_station.YoYoMinDepth = 2.000000 m
2021-08-13T03:17:13.931Z,1628824633.931 [MissionManager](INFO): DefineArg profile_station.YoYoMaxDepth = 200.000000 m
2021-08-13T03:17:13.935Z,1628824633.935 [MissionManager](INFO): DefineArg profile_station.YoYoMinAltitude = 7.000000 m
2021-08-13T03:17:13.938Z,1628824633.938 [MissionManager](INFO): DefineArg profile_station.YoYoPitch = 20.000000 arcdeg
2021-08-13T03:17:13.941Z,1628824633.941 [MissionManager](INFO): DefineArg profile_station.Speed = 1.000000 m/s
2021-08-13T03:17:13.944Z,1628824633.944 [MissionManager](INFO): DefineArg profile_station.CircleMaxError = 100.000000 m
2021-08-13T03:17:13.947Z,1628824633.947 [MissionManager](INFO): DefineArg profile_station.CircleTurnToPort = 0 bool
2021-08-13T03:17:13.951Z,1628824633.951 [MissionManager](INFO): DefineArg profile_station.KwpHeading = 0.010000 rad/m
2021-08-13T03:17:13.954Z,1628824633.954 [MissionManager](INFO): DefineArg profile_station.MinAltitude = 5.000000 m
2021-08-13T03:17:13.957Z,1628824633.957 [MissionManager](INFO): DefineArg profile_station.MaxDepth = 205.000000 m
2021-08-13T03:17:13.977Z,1628824633.977 [MissionManager](INFO): DefineArg profile_station.MinOffshore = 2.000000 km
2021-08-13T03:17:13.977Z,1628824633.977 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-13T03:17:14.381Z,1628824634.381 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectChlActive = 0 bool
2021-08-13T03:17:14.384Z,1628824634.384 [MissionManager](INFO): DefineArg profile_station:Science.TimeWindowPeakReport = nan min
2021-08-13T03:17:14.387Z,1628824634.387 [MissionManager](INFO): DefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool
2021-08-13T03:17:14.390Z,1628824634.390 [MissionManager](INFO): DefineArg profile_station:Science.HighestSaltPeakReportActive = 0 bool
2021-08-13T03:17:14.393Z,1628824634.393 [MissionManager](INFO): DefineArg profile_station:Science.HighestOilPeakReportActive = 0 bool
2021-08-13T03:17:14.396Z,1628824634.396 [MissionManager](INFO): DefineArg profile_station:Science.PatchTracking = 0 bool
2021-08-13T03:17:14.399Z,1628824634.399 [MissionManager](INFO): DefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count
2021-08-13T03:17:14.403Z,1628824634.403 [MissionManager](INFO): DefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-13T03:17:14.406Z,1628824634.406 [MissionManager](INFO): DefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-13T03:17:14.409Z,1628824634.409 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool
2021-08-13T03:17:14.412Z,1628824634.412 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectOilActive = 0 bool
2021-08-13T03:17:14.415Z,1628824634.415 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool
2021-08-13T03:17:14.417Z,1628824634.417 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectSalinityActive = 0 bool
2021-08-13T03:17:14.420Z,1628824634.420 [MissionManager](INFO): DefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-13T03:17:14.424Z,1628824634.424 [MissionManager](INFO): DefineArg profile_station:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-13T03:17:14.444Z,1628824634.444 [MissionManager](INFO): DefineArg profile_station:Science.EnabledNeilBrown = 0.000000 bool
2021-08-13T03:17:14.451Z,1628824634.451 [MissionManager](INFO): DefineArg profile_station:Science.EnabledSeabird = 1.000000 bool
2021-08-13T03:17:14.459Z,1628824634.459 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-13T03:17:14.476Z,1628824634.476 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-13T03:17:14.481Z,1628824634.481 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-13T03:17:14.495Z,1628824634.495 [MissionManager](INFO): DefineArg profile_station:Science.LowPassWindowLength = 20.000000 count
2021-08-13T03:17:14.503Z,1628824634.503 [MissionManager](INFO): DefineArg profile_station:Science.MedianFilterLen = 5.000000 count
2021-08-13T03:17:14.510Z,1628824634.510 [MissionManager](INFO): DefineArg profile_station:Science.PeakShallowBound = nan m
2021-08-13T03:17:14.514Z,1628824634.514 [MissionManager](INFO): DefineArg profile_station:Science.PeakDeepBound = nan m
2021-08-13T03:17:14.525Z,1628824634.525 [MissionManager](INFO): DefineArg profile_station:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-13T03:17:14.569Z,1628824634.569 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChl = 0.000000 ug/l
2021-08-13T03:17:14.574Z,1628824634.574 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlDepth = 0.000000 m
2021-08-13T03:17:14.585Z,1628824634.585 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlTemperature = 0.000000 degC
2021-08-13T03:17:14.593Z,1628824634.593 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg
2021-08-13T03:17:14.600Z,1628824634.600 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg
2021-08-13T03:17:14.603Z,1628824634.603 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3 = 0.000000 umol/l
2021-08-13T03:17:14.611Z,1628824634.611 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Depth = 0.000000 m
2021-08-13T03:17:14.625Z,1628824634.625 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Latitude = nan arcdeg
2021-08-13T03:17:14.633Z,1628824634.633 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Longitude = nan arcdeg
2021-08-13T03:17:14.640Z,1628824634.640 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOil = 0.000000 kg/m3
2021-08-13T03:17:14.643Z,1628824634.643 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilDepth = 0.000000 m
2021-08-13T03:17:14.651Z,1628824634.651 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLatitude = nan arcdeg
2021-08-13T03:17:14.658Z,1628824634.658 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLongitude = nan arcdeg
2021-08-13T03:17:14.663Z,1628824634.663 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOM = 0.000000 ppb
2021-08-13T03:17:14.680Z,1628824634.680 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMDepth = 0.000000 m
2021-08-13T03:17:14.683Z,1628824634.683 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMTemperature = nan degC
2021-08-13T03:17:14.691Z,1628824634.691 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLatitude = nan arcdeg
2021-08-13T03:17:14.704Z,1628824634.704 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLongitude = nan arcdeg
2021-08-13T03:17:14.707Z,1628824634.707 [MissionManager](INFO): DefineOutput profile_station:Science.PatchFDOMDistance = nan m
2021-08-13T03:17:14.715Z,1628824634.715 [MissionManager](INFO): DefineOutput profile_station:Science.PeakSalt = 0.000000 psu
2021-08-13T03:17:14.737Z,1628824634.737 [MissionManager](INFO): DefineOutput profile_station:Science.PeakSaltDepth = 0.000000 m
2021-08-13T03:17:14.760Z,1628824634.760 [MissionManager](INFO): DefineOutput profile_station:Science.PeakSaltTemperature = 0.000000 degC
2021-08-13T03:17:14.763Z,1628824634.763 [MissionManager](INFO): DefineOutput profile_station:Science.PeakSaltLatitude = nan arcdeg
2021-08-13T03:17:14.770Z,1628824634.770 [MissionManager](INFO): DefineOutput profile_station:Science.PeakSaltLongitude = nan arcdeg
2021-08-13T03:17:14.785Z,1628824634.785 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChl = 0.000000 ug/l
2021-08-13T03:17:14.792Z,1628824634.792 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDepth = 0.000000 m
2021-08-13T03:17:14.795Z,1628824634.795 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLatitude = nan arcdeg
2021-08-13T03:17:14.805Z,1628824634.805 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLongitude = nan arcdeg
2021-08-13T03:17:14.809Z,1628824634.809 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDistance = nan m
2021-08-13T03:17:14.821Z,1628824634.821 [MissionManager](INFO): DefineOutput profile_station:Science.PatchSalt = 0.000000 psu
2021-08-13T03:17:14.828Z,1628824634.828 [MissionManager](INFO): DefineOutput profile_station:Science.PatchSaltDepth = 0.000000 m
2021-08-13T03:17:14.831Z,1628824634.831 [MissionManager](INFO): DefineOutput profile_station:Science.PatchSaltLatitude = nan arcdeg
2021-08-13T03:17:14.839Z,1628824634.839 [MissionManager](INFO): DefineOutput profile_station:Science.PatchSaltLongitude = nan arcdeg
2021-08-13T03:17:14.854Z,1628824634.854 [MissionManager](INFO): DefineOutput profile_station:Science.PatchSaltDistance = nan m
2021-08-13T03:17:14.857Z,1628824634.857 [MissionManager](INFO): DefineOutput profile_station:Science.PatchOil = 0.000000 psu
2021-08-13T03:17:14.869Z,1628824634.869 [MissionManager](INFO): DefineOutput profile_station:Science.PatchOilDepth = 0.000000 m
2021-08-13T03:17:14.873Z,1628824634.873 [MissionManager](INFO): DefineOutput profile_station:Science.PatchOilLatitude = nan arcdeg
2021-08-13T03:17:14.886Z,1628824634.886 [MissionManager](INFO): DefineOutput profile_station:Science.PatchOilLongitude = nan arcdeg
2021-08-13T03:17:14.891Z,1628824634.891 [MissionManager](INFO): DefineOutput profile_station:Science.PatchOilDistance = nan m
2021-08-13T03:17:14.969Z,1628824634.969 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T03:17:15.021Z,1628824635.021 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T03:17:15.049Z,1628824635.049 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T03:17:15.071Z,1628824635.071 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T03:17:15.103Z,1628824635.103 [profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T03:17:15.137Z,1628824635.137 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T03:17:15.161Z,1628824635.161 [profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-13T03:17:15.185Z,1628824635.185 [profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-13T03:17:15.216Z,1628824635.216 [MissionManager](INFO): RedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool
2021-08-13T03:17:15.216Z,1628824635.216 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-13T03:17:15.373Z,1628824635.373 [MissionManager](INFO): DefineArg profile_station:NeedComms.DiveInterval = 3.000000 h
2021-08-13T03:17:15.385Z,1628824635.385 [MissionManager](INFO): DefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-13T03:17:15.396Z,1628824635.396 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-13T03:17:15.399Z,1628824635.399 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s
2021-08-13T03:17:15.411Z,1628824635.411 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-13T03:17:15.422Z,1628824635.422 [MissionManager](INFO): DefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min
2021-08-13T03:17:15.430Z,1628824635.430 [MissionManager](INFO): DefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min
2021-08-13T03:17:15.457Z,1628824635.457 [profile_station:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-13T03:17:15.506Z,1628824635.506 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-13T03:17:15.554Z,1628824635.554 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-13T03:17:15.569Z,1628824635.569 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-13T03:17:15.580Z,1628824635.580 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-13T03:17:15.581Z,1628824635.581 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T03:17:15.595Z,1628824635.595 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T03:17:15.624Z,1628824635.624 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-13T03:17:15.651Z,1628824635.651 [profile_station:I.Pitch](DEBUG): Construct.
2021-08-13T03:17:15.662Z,1628824635.662 [profile_station:J.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-13T03:17:15.678Z,1628824635.678 [profile_station:K.SetSpeed](DEBUG): Construct.
2021-08-13T03:17:15.696Z,1628824635.696 [profile_station:L.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-13T03:17:15.720Z,1628824635.720 [profile_station:M.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-13T03:17:15.777Z,1628824635.777 [profile_station:N.YoYo](DEBUG): Construct YoYo.
2021-08-13T03:17:15.805Z,1628824635.805 [profile_station:CircleWrapper:B.Circle](DEBUG): Construct.
2021-08-13T03:17:15.920Z,1628824635.920 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.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="profile_station">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</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>

<!-- Missions should almost always start with a 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>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

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

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

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <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>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope>
        <Description>
            Another depth envelope for the YoYo behavior. This envelope should
            fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for depth-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:AltitudeEnvelope>
        <Description>
            Another altitude envelope for the YoYo behavior. This envelope
            should fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
    </Guidance:YoYo>

    <Aggregate Id="CircleWrapper">

        <Sequence Repeat="4096"/>

        <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

        <Guidance:Circle>
            <Sequence/>
            <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
            <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
            <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
            <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
            <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
        </Guidance:Circle>

    </Aggregate>

</Mission>


2021-08-13T03:17:15.921Z,1628824635.921 [CommandLine](IMPORTANT): Loaded ./Missions/Science/profile_station.xml
2021-08-13T03:17:18.191Z,1628824638.191 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-13T03:17:18.195Z,1628824638.195 [Micromodem](INFO): Nmea in: $CACST,6,1,20210813031718.745188,06,171,22,0111,0150,82,00,00,00,00,-1,-01,-01,1,3,5,0,150,39.9,0.01,-100,2.99,-01,-1.39,45,14500,4000*5D

2021-08-13T03:17:35.209Z,1628824655.209 [CommandLine](IMPORTANT): got command set profile_station.MissionTimeout 590.000000 minute
2021-08-13T03:17:35.210Z,1628824655.210 [CommandLine](IMPORTANT): got command set profile_station.NeedCommsTime 180.000000 minute
2021-08-13T03:17:35.211Z,1628824655.211 [CommandLine](IMPORTANT): got command set profile_station.Lat 41.553108 degree
2021-08-13T03:17:35.212Z,1628824655.212 [CommandLine](IMPORTANT): got command set profile_station.Lon -70.707161 degree
2021-08-13T03:17:56.874Z,1628824676.874 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinDepth 3.000000 meter
2021-08-13T03:17:56.875Z,1628824676.875 [CommandLine](IMPORTANT): got command set profile_station.YoYoMaxDepth 7.000000 meter
2021-08-13T03:17:56.876Z,1628824676.876 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinAltitude 3.000000 meter
2021-08-13T03:17:56.877Z,1628824676.877 [CommandLine](IMPORTANT): got command set profile_station.YoYoPitch 15.000000 degree
2021-08-13T03:17:56.878Z,1628824676.878 [CommandLine](IMPORTANT): got command set profile_station.MinAltitude 3.000000 meter
2021-08-13T03:17:56.879Z,1628824676.879 [CommandLine](IMPORTANT): got command set profile_station.MaxDepth 9.000000 meter
2021-08-13T03:18:00.298Z,1628824680.298 [CommandLine](IMPORTANT): got command set profile_station.MinOffshore 500.000000 meter
2021-08-13T03:18:00.299Z,1628824680.299 [CommandLine](IMPORTANT): got command run
2021-08-13T03:18:00.302Z,1628824680.302 [CommandLine](IMPORTANT): Running 
2021-08-13T03:18:00.391Z,1628824680.391 [DefaultWithUndock] Stopped
2021-08-13T03:18:00.391Z,1628824680.391 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-13T03:18:00.391Z,1628824680.391 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-13T03:18:00.392Z,1628824680.392 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T03:18:00.392Z,1628824680.392 [MissionManager](IMPORTANT): Started mission profile_station
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station] Running Loop=1
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station](DEBUG): Aggregate::initialize profile_station
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station:Science] Running Loop=1
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station:Science](DEBUG): Aggregate::initialize profile_station:Science
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station:Science:A] Running Loop=1
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station:Science:B] Running Loop=1
2021-08-13T03:18:00.393Z,1628824680.393 [profile_station:Science:C] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:D] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:E] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:F] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:Read_Oil] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:PeakDetectChl] Running Loop=1
2021-08-13T03:18:00.394Z,1628824680.394 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectChl
2021-08-13T03:18:00.395Z,1628824680.395 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T03:18:00.395Z,1628824680.395 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T03:18:00.397Z,1628824680.397 [profile_station:Science:HighestChlPeakReport] Running Loop=1
2021-08-13T03:18:00.397Z,1628824680.397 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestChlPeakReport
2021-08-13T03:18:00.397Z,1628824680.397 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T03:18:00.398Z,1628824680.398 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T03:18:00.398Z,1628824680.398 [profile_station:Science:PeakDetectNO3] Running Loop=1
2021-08-13T03:18:00.398Z,1628824680.398 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectNO3
2021-08-13T03:18:00.398Z,1628824680.398 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T03:18:00.398Z,1628824680.398 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T03:18:00.400Z,1628824680.400 [profile_station:Science:PeakDetectOil] Running Loop=1
2021-08-13T03:18:00.401Z,1628824680.401 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectOil
2021-08-13T03:18:00.401Z,1628824680.401 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T03:18:00.401Z,1628824680.401 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T03:18:00.402Z,1628824680.402 [profile_station:Science:HighestOilPeakReport] Running Loop=1
2021-08-13T03:18:00.403Z,1628824680.403 [profile_station:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestOilPeakReport
2021-08-13T03:18:00.403Z,1628824680.403 [profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T03:18:00.403Z,1628824680.403 [profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T03:18:00.403Z,1628824680.403 [profile_station:Science:PeakDetectFDOM] Running Loop=1
2021-08-13T03:18:00.403Z,1628824680.403 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectFDOM
2021-08-13T03:18:00.404Z,1628824680.404 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T03:18:00.404Z,1628824680.404 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T03:18:00.406Z,1628824680.406 [profile_station:Science:PeakDetectSalinity] Running Loop=1
2021-08-13T03:18:00.406Z,1628824680.406 [profile_station:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectSalinity
2021-08-13T03:18:00.406Z,1628824680.406 [profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-13T03:18:00.406Z,1628824680.406 [profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-13T03:18:00.408Z,1628824680.408 [profile_station:Science:HighestSaltPeakReport] Running Loop=1
2021-08-13T03:18:00.408Z,1628824680.408 [profile_station:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestSaltPeakReport
2021-08-13T03:18:00.408Z,1628824680.408 [profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-13T03:18:00.408Z,1628824680.408 [profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:Science:OceanCurrent] Running Loop=1
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station:Science:OceanCurrent
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:StandardEnvelopes] Running Loop=1
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station:StandardEnvelopes
2021-08-13T03:18:00.409Z,1628824680.409 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:I.Pitch] Running Loop=1
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:I.Pitch](DEBUG): Initialize.
2021-08-13T03:18:00.410Z,1628824680.410 [profile_station:J.Buoyancy] Running Loop=1
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:K.SetSpeed] Running Loop=1
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:K.SetSpeed](DEBUG): Initialize.
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:L.DepthEnvelope] Running Loop=1
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:L.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:M.AltitudeEnvelope] Running Loop=1
2021-08-13T03:18:00.411Z,1628824680.411 [profile_station:M.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-13T03:18:00.412Z,1628824680.412 [profile_station:N.YoYo] Running Loop=1
2021-08-13T03:18:00.412Z,1628824680.412 [profile_station:N.YoYo](DEBUG): Initialize YoYoComponent.
2021-08-13T03:18:00.412Z,1628824680.412 [profile_station:C] Running Loop=1
2021-08-13T03:18:00.413Z,1628824680.413 [profile_station:N.YoYo] Running Loop=1
2021-08-13T03:18:00.413Z,1628824680.413 [profile_station:M.AltitudeEnvelope] Running Loop=1
2021-08-13T03:18:00.414Z,1628824680.414 [profile_station:L.DepthEnvelope] Running Loop=1
2021-08-13T03:18:00.415Z,1628824680.415 [profile_station:K.SetSpeed] Running Loop=1
2021-08-13T03:18:00.415Z,1628824680.415 [profile_station:J.Buoyancy] Running Loop=1
2021-08-13T03:18:00.415Z,1628824680.415 [profile_station:I.Pitch] Running Loop=1
2021-08-13T03:18:00.415Z,1628824680.415 [profile_station:StandardEnvelopes] Running Loop=1
2021-08-13T03:18:00.415Z,1628824680.415 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-13T03:18:00.416Z,1628824680.416 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-13T03:18:00.416Z,1628824680.416 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-13T03:18:00.417Z,1628824680.417 [profile_station:C] Stopped
2021-08-13T03:18:00.417Z,1628824680.417 [profile_station:E] Running Loop=1
2021-08-13T03:18:00.417Z,1628824680.417 [profile_station:Science] Running Loop=1
2021-08-13T03:18:00.418Z,1628824680.418 [profile_station:Science:HighestSaltPeakReport] Stopped
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestSaltPeakReport
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectSalinity] Stopped
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectSalinity
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectFDOM] Stopped
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectFDOM
2021-08-13T03:18:00.419Z,1628824680.419 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:HighestOilPeakReport] Stopped
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestOilPeakReport
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:PeakDetectOil] Stopped
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectOil
2021-08-13T03:18:00.420Z,1628824680.420 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectNO3] Stopped
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectNO3
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:HighestChlPeakReport] Stopped
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestChlPeakReport
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-13T03:18:00.421Z,1628824680.421 [profile_station:Science:PeakDetectChl] Running Loop=1
2021-08-13T03:18:00.422Z,1628824680.422 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2021-08-13T03:18:00.423Z,1628824680.423 [profile_station:Science:Read_Oil] Running Loop=1
2021-08-13T03:18:00.440Z,1628824680.440 [profile_station:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-13T03:18:00.440Z,1628824680.440 [profile_station:Science:F] Stopped
2021-08-13T03:18:00.440Z,1628824680.440 [profile_station:Science:E] Running Loop=1
2021-08-13T03:18:00.444Z,1628824680.444 [profile_station:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-08-13T03:18:00.445Z,1628824680.445 [profile_station:Science:D] Stopped
2021-08-13T03:18:00.445Z,1628824680.445 [profile_station:Science:C] Running Loop=1
2021-08-13T03:18:00.445Z,1628824680.445 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-13T03:18:00.446Z,1628824680.446 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-13T03:18:00.446Z,1628824680.446 [profile_station:Science:B] Running Loop=1
2021-08-13T03:18:00.447Z,1628824680.447 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-13T03:18:00.448Z,1628824680.448 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-13T03:18:00.448Z,1628824680.448 [profile_station:Science:A] Stopped
2021-08-13T03:18:00.508Z,1628824680.508 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T03:18:00.791Z,1628824680.791 [profile_station:E] Stopped
2021-08-13T03:18:00.791Z,1628824680.791 [profile_station:F] Running Loop=1
2021-08-13T03:18:01.198Z,1628824681.198 [profile_station:F] Stopped
2021-08-13T03:18:01.198Z,1628824681.198 [profile_station:G] Running Loop=1
2021-08-13T03:18:01.606Z,1628824681.606 [profile_station:G] Stopped
2021-08-13T03:18:01.607Z,1628824681.607 [profile_station:StartingMission] Running Loop=1
2021-08-13T03:18:01.607Z,1628824681.607 [profile_station:StartingMission](DEBUG): Aggregate::initialize profile_station:StartingMission
2021-08-13T03:18:02.005Z,1628824682.005 [profile_station:NeedComms] Running Loop=1
2021-08-13T03:18:02.005Z,1628824682.005 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2021-08-13T03:18:02.005Z,1628824682.005 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2021-08-13T03:18:02.005Z,1628824682.005 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T03:18:02.006Z,1628824682.006 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-13T03:18:02.006Z,1628824682.006 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-13T03:18:02.007Z,1628824682.007 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-13T03:18:02.007Z,1628824682.007 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T03:18:02.007Z,1628824682.007 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T03:18:02.012Z,1628824682.012 [profile_station:NeedComms:A] Running Loop=1
2021-08-13T03:18:02.013Z,1628824682.013 [profile_station:NeedComms:A](INFO): last time_fix was: 1628824386.000000 second since 1970/01/01T00:00:00Z 
2021-08-13T03:18:02.013Z,1628824682.013 [profile_station:NeedComms:A] Stopped
2021-08-13T03:18:02.402Z,1628824682.402 [profile_station:NeedComms:C] Running Loop=1
2021-08-13T03:18:02.799Z,1628824682.799 [profile_station:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-13T03:18:04.341Z,1628824684.341 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-13T03:18:04.392Z,1628824684.392 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031803.00,A,4133.24670,N,07042.29191,W,0.117,14.40,130821,,,A*4B
2021-08-13T03:18:04.395Z,1628824684.395 [NAL9602](INFO): GPS fix at 20210813T031803: (41.554112, -70.704865)
2021-08-13T03:18:04.436Z,1628824684.436 [profile_station:NeedComms:C] Stopped
2021-08-13T03:18:04.436Z,1628824684.436 [profile_station:NeedComms:D] Running Loop=1
2021-08-13T03:18:04.854Z,1628824684.854 [profile_station:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-13T03:18:08.763Z,1628824688.763 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20210812T232438/Courier0078.lzma
2021-08-13T03:18:09.766Z,1628824689.766 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0078.lzma.bak
2021-08-13T03:18:09.766Z,1628824689.766 [DataOverHttps](INFO): SBD MOMSN=429604
2021-08-13T03:18:16.516Z,1628824696.516 [NAL9602](INFO): SBD MO Status=0, MOMSN=23636, MT Status=0, MTMSN=0
2021-08-13T03:18:16.516Z,1628824696.516 [NAL9602](INFO): No messages in MT queue
2021-08-13T03:18:18.806Z,1628824698.806 [DataOverHttps](INFO): Sending 55 bytes from file Logs/20210812T232438/Courier0081.lzma
2021-08-13T03:18:19.806Z,1628824699.806 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Courier0081.lzma.bak
2021-08-13T03:18:19.806Z,1628824699.806 [DataOverHttps](INFO): SBD MOMSN=429607
2021-08-13T03:18:28.849Z,1628824708.849 [DataOverHttps](INFO): Sending 639 bytes from file Logs/20210812T232438/Express0079.lzma
2021-08-13T03:18:29.851Z,1628824709.851 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0079.lzma.bak
2021-08-13T03:18:29.851Z,1628824709.851 [DataOverHttps](INFO): SBD MOMSN=429609
2021-08-13T03:18:38.890Z,1628824718.890 [DataOverHttps](INFO): Sending 64 bytes from file Logs/20210812T232438/Express0082.lzma
2021-08-13T03:18:39.890Z,1628824719.890 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0082.lzma.bak
2021-08-13T03:18:39.890Z,1628824719.890 [DataOverHttps](INFO): SBD MOMSN=429639
2021-08-13T03:18:41.191Z,1628824721.191 [profile_station:NeedComms:D] Stopped
2021-08-13T03:18:41.191Z,1628824721.191 [profile_station:NeedComms:E] Running Loop=1
2021-08-13T03:18:41.610Z,1628824721.610 [profile_station:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-13T03:18:43.192Z,1628824723.192 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,031842.00,A,4133.24881,N,07042.28663,W,0.641,14.40,130821,,,A*41
2021-08-13T03:18:43.195Z,1628824723.195 [NAL9602](INFO): GPS fix at 20210813T031842: (41.554147, -70.704777)
2021-08-13T03:18:43.226Z,1628824723.226 [profile_station:NeedComms:E] Stopped
2021-08-13T03:18:43.227Z,1628824723.227 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2021-08-13T03:18:43.227Z,1628824723.227 [profile_station:NeedComms] Stopped
2021-08-13T03:18:43.227Z,1628824723.227 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2021-08-13T03:18:43.227Z,1628824723.227 [profile_station:NeedComms:B.GoToSurface] Stopped
2021-08-13T03:18:43.227Z,1628824723.227 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:StartingMission](INFO): Completed profile_station:StartingMission
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:StartingMission] Stopped
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:StartingMission](DEBUG): Aggregate::uninitialize profile_station:StartingMission
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:CircleWrapper] Running Loop=1
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T03:18:43.705Z,1628824723.705 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T03:18:43.706Z,1628824723.706 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T03:18:43.706Z,1628824723.706 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T03:18:44.015Z,1628824724.015 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T03:19:15.486Z,1628824755.486 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T03:19:28.810Z,1628824768.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:19:43.766Z,1628824783.766 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:19:53.851Z,1628824793.851 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T03:19:56.685Z,1628824796.685 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm (4 active estimators).
2021-08-13T03:20:03.958Z,1628824803.958 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:20:18.911Z,1628824818.911 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:20:20.111Z,1628824820.111 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm (5 active estimators).
2021-08-13T03:20:21.346Z,1628824821.346 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251755
2021-08-13T03:20:23.755Z,1628824823.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:20:29.013Z,1628824829.013 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:20:33.852Z,1628824833.852 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:20:48.796Z,1628824848.796 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:20:57.040Z,1628824857.040 [Radio_Surface](INFO): Powering down
2021-08-13T03:20:57.480Z,1628824857.480 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T03:20:58.484Z,1628824858.484 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T03:21:38.895Z,1628824898.895 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:22:03.576Z,1628824923.576 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:22:13.693Z,1628824933.693 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T03:22:29.002Z,1628824949.002 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:22:33.852Z,1628824953.852 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T03:22:33.852Z,1628824953.852 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T03:22:33.852Z,1628824953.852 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T03:22:34.012Z,1628824954.012 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T03:22:34.320Z,1628824954.320 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T03:22:35.108Z,1628824955.108 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T03:22:35.108Z,1628824955.108 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T03:22:47.602Z,1628824967.602 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:22:49.626Z,1628824969.626 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:28:21.702Z,1628825301.702 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:28:39.500Z,1628825319.500 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:29:31.199Z,1628825371.199 [CTD_Seabird](ERROR): Failed to parse device response: .45
2021-08-13T03:30:49.574Z,1628825449.574 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:32:39.449Z,1628825559.449 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:32:49.553Z,1628825569.553 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T03:33:09.411Z,1628825589.411 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T03:33:19.461Z,1628825599.461 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T03:33:31.625Z,1628825611.625 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:33:39.665Z,1628825619.665 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T03:33:49.422Z,1628825629.422 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:34:27.370Z,1628825667.370 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T03:38:01.556Z,1628825881.556 [ElevatorServo](FAULT): Reading outside of valid range:0.000000

2021-08-13T03:38:01.557Z,1628825881.557 [ElevatorServo](ERROR): Elevator reporting null position
2021-08-13T03:38:02.228Z,1628825882.228 [ElevatorServo](ERROR): getPosition uart error serial timeout
2021-08-13T03:38:02.228Z,1628825882.228 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2021-08-13T03:38:02.228Z,1628825882.228 [ElevatorServo] Communications Fault, FailCount= 1
2021-08-13T03:38:02.228Z,1628825882.228 [ElevatorServo](ERROR): Communications Fault
2021-08-13T03:38:02.269Z,1628825882.269 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-08-13T03:38:02.339Z,1628825882.339 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-08-13T03:38:02.339Z,1628825882.339 [ElevatorServo](INFO): Powering down
2021-08-13T03:38:03.129Z,1628825883.129 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-13T03:38:03.245Z,1628825883.245 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-13T03:38:03.276Z,1628825883.276 [CBIT](INFO): Clearing failed state for component ElevatorServo
2021-08-13T03:38:03.276Z,1628825883.276 [ElevatorServo] No Fault, FailCount= 1
2021-08-13T03:38:04.736Z,1628825884.736 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T03:38:09.638Z,1628825889.638 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 37
2021-08-13T03:38:20.914Z,1628825900.914 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:38:29.783Z,1628825909.783 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:38:49.658Z,1628825929.658 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:39:21.487Z,1628825961.487 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T03:51:45.683Z,1628826705.683 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:52:05.481Z,1628826725.481 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T03:52:25.676Z,1628826745.676 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:52:35.373Z,1628826755.373 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:52:45.487Z,1628826765.487 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:52:55.576Z,1628826775.576 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T03:53:05.695Z,1628826785.695 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T03:53:15.400Z,1628826795.400 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:54:31.013Z,1628826871.013 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-13T03:54:31.013Z,1628826871.013 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T03:54:31.013Z,1628826871.013 [ThrusterServo](ERROR): Communications Fault
2021-08-13T03:54:31.017Z,1628826871.017 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T03:54:31.431Z,1628826871.431 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T03:54:31.431Z,1628826871.431 [ThrusterServo](INFO): Powering down
2021-08-13T03:54:32.181Z,1628826872.181 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T03:54:32.301Z,1628826872.301 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T03:54:32.305Z,1628826872.305 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T03:54:32.305Z,1628826872.305 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T03:55:43.741Z,1628826943.741 [CTD_Seabird](ERROR): Failed to parse device response: 4.67,23.8207,4781.49
2021-08-13T03:57:50.904Z,1628827070.904 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T03:57:55.757Z,1628827075.757 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T03:58:05.840Z,1628827085.840 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T03:58:10.701Z,1628827090.701 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T03:58:20.797Z,1628827100.797 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T03:58:25.679Z,1628827105.679 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:58:30.900Z,1628827110.900 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:58:35.744Z,1628827115.744 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T03:58:40.663Z,1628827120.663 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:01:17.374Z,1628827277.374 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T04:03:10.479Z,1628827390.479 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T04:03:10.490Z,1628827390.490 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T04:04:31.344Z,1628827471.344 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T04:06:27.446Z,1628827587.446 [CTD_Seabird](ERROR): Failed to parse device response: 6.773,4.75024,4783.34
2021-08-13T04:07:54.112Z,1628827674.112 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T04:07:54.112Z,1628827674.112 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T04:07:54.113Z,1628827674.113 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T04:07:54.113Z,1628827674.113 [profile_station:CircleWrapper] Stopped
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper:A] Stopped
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper](INFO): Running loop #2
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper] Running Loop=2
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T04:07:54.114Z,1628827674.114 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T04:07:54.115Z,1628827674.115 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T04:07:54.115Z,1628827674.115 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T04:09:51.708Z,1628827791.708 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T04:12:11.456Z,1628827931.456 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:12:31.640Z,1628827951.640 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:12:51.460Z,1628827971.460 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:13:21.392Z,1628828001.392 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:13:31.464Z,1628828011.464 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T04:13:31.464Z,1628828011.464 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T04:13:31.464Z,1628828011.464 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T04:13:31.553Z,1628828011.553 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T04:13:31.904Z,1628828011.904 [RDI_Pathfinder](INFO): Powering down
2021-08-13T04:13:32.730Z,1628828012.730 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T04:13:32.730Z,1628828012.730 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T04:15:58.931Z,1628828158.931 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:16:54.658Z,1628828214.658 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:16:56.687Z,1628828216.687 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:17:11.625Z,1628828231.625 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:17:16.894Z,1628828236.894 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:17:26.633Z,1628828246.633 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T04:17:31.834Z,1628828251.834 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:17:46.769Z,1628828266.769 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:17:51.631Z,1628828271.631 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:18:01.723Z,1628828281.723 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:18:06.970Z,1628828286.970 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:18:11.824Z,1628828291.824 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:19:01.915Z,1628828341.915 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:19:48.492Z,1628828388.492 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T04:19:48.758Z,1628828388.758 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:49.762Z,1628828389.762 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:50.768Z,1628828390.768 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:51.770Z,1628828391.770 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:52.774Z,1628828392.774 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:53.778Z,1628828393.778 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:54.782Z,1628828394.782 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:55.786Z,1628828395.786 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:56.790Z,1628828396.790 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:57.794Z,1628828397.794 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:58.799Z,1628828398.799 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T04:19:59.407Z,1628828399.407 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005501
CHAN A1 (24V): -0.022761
CHAN A2 (12V): -0.005164
CHAN A3 (5V): -0.001560
CHAN B0 (3.3V): 0.000458
CHAN B1 (3.15aV): 0.001119
CHAN B2 (3.15bV): 0.000448
CHAN B3 (GND): 0.001901
OPEN: 0.006751
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T04:20:23.165Z,1628828423.165 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:26:39.256Z,1628828799.256 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:27:07.168Z,1628828827.168 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:27:17.242Z,1628828837.242 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T04:27:57.250Z,1628828877.250 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:28:09.403Z,1628828889.403 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T04:28:17.452Z,1628828897.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:32:15.399Z,1628829135.399 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:33:34.611Z,1628829214.611 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T04:35:13.980Z,1628829313.980 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T04:36:17.823Z,1628829377.823 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:36:27.905Z,1628829387.905 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:36:32.768Z,1628829392.768 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:36:42.844Z,1628829402.844 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:36:48.941Z,1628829408.941 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:36:52.942Z,1628829412.942 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:36:57.799Z,1628829417.799 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:37:07.914Z,1628829427.914 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:37:17.658Z,1628829437.658 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:37:22.858Z,1628829442.858 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-13T04:38:52.956Z,1628829532.956 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T04:38:52.956Z,1628829532.956 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T04:38:52.956Z,1628829532.956 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T04:38:53.051Z,1628829533.051 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T04:38:53.432Z,1628829533.432 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T04:38:54.228Z,1628829534.228 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T04:38:54.228Z,1628829534.228 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T04:39:58.006Z,1628829598.006 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-13T04:41:05.453Z,1628829665.453 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:42:18.989Z,1628829738.989 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:46:23.422Z,1628829983.422 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T04:46:33.163Z,1628829993.163 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:46:43.225Z,1628830003.225 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T04:46:53.317Z,1628830013.317 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T04:47:03.424Z,1628830023.424 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T04:47:23.223Z,1628830043.223 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T04:47:28.464Z,1628830048.464 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T04:51:59.193Z,1628830319.193 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T04:55:07.063Z,1628830507.063 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T04:55:07.063Z,1628830507.063 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T04:55:07.065Z,1628830507.065 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T04:55:07.066Z,1628830507.066 [profile_station:CircleWrapper] Stopped
2021-08-13T04:55:07.066Z,1628830507.066 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T04:55:07.066Z,1628830507.066 [profile_station:CircleWrapper:A] Stopped
2021-08-13T04:55:07.067Z,1628830507.067 [profile_station:CircleWrapper](INFO): Running loop #3
2021-08-13T04:55:07.067Z,1628830507.067 [profile_station:CircleWrapper] Running Loop=3
2021-08-13T04:55:07.068Z,1628830507.068 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T04:55:07.069Z,1628830507.069 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T04:55:07.069Z,1628830507.069 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T04:55:07.069Z,1628830507.069 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T04:56:20.749Z,1628830580.749 [CTD_Seabird](ERROR): Failed to parse device response: 2.68,23.8629,
2021-08-13T04:56:44.780Z,1628830604.780 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:56:58.935Z,1628830618.935 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T04:57:03.770Z,1628830623.770 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T04:57:24.781Z,1628830644.781 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T04:57:38.923Z,1628830658.923 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:03:03.746Z,1628830983.746 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T05:03:16.501Z,1628830996.501 [CTD_Seabird](ERROR): Failed to parse device response: 4782.75
2021-08-13T05:05:49.406Z,1628831149.406 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T05:06:09.184Z,1628831169.184 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:06:19.325Z,1628831179.325 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:06:29.393Z,1628831189.393 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T05:06:49.191Z,1628831209.191 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T05:06:59.296Z,1628831219.296 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T05:10:34.674Z,1628831434.674 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T05:10:34.677Z,1628831434.677 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T05:12:58.921Z,1628831578.921 [CTD_Seabird](ERROR): Failed to parse device response: 7.31,23.8212,4.757.68
2021-08-13T05:16:41.482Z,1628831801.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:17:00.928Z,1628831820.928 [CTD_Seabird](ERROR): Failed to parse device response: 5.43,23.8275,6
2021-08-13T05:17:04.911Z,1628831824.911 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:17:49.772Z,1628831869.772 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:18:04.707Z,1628831884.707 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T05:18:14.802Z,1628831894.802 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:18:19.710Z,1628831899.710 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:18:35.007Z,1628831915.007 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:18:43.820Z,1628831923.820 [ElevatorServo](ERROR): getPosition uart error serial timeout
2021-08-13T05:18:43.821Z,1628831923.821 [ElevatorServo](FAULT): Elevator uart error - getPosition.serial timeout
2021-08-13T05:18:43.821Z,1628831923.821 [ElevatorServo] Communications Fault, FailCount= 1
2021-08-13T05:18:43.821Z,1628831923.821 [ElevatorServo](ERROR): Communications Fault
2021-08-13T05:18:43.854Z,1628831923.854 [CBIT](ERROR): Communications Fault in component: ElevatorServo
2021-08-13T05:18:43.982Z,1628831923.982 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-08-13T05:18:43.982Z,1628831923.982 [ElevatorServo](INFO): Powering down
2021-08-13T05:18:44.778Z,1628831924.778 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-13T05:18:44.899Z,1628831924.899 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-13T05:18:45.020Z,1628831925.020 [CBIT](INFO): Clearing failed state for component ElevatorServo
2021-08-13T05:18:45.020Z,1628831925.020 [ElevatorServo] No Fault, FailCount= 1
2021-08-13T05:19:40.865Z,1628831980.865 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T05:19:55.000Z,1628831995.000 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T05:20:12.033Z,1628832012.033 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-08-13T05:20:12.033Z,1628832012.033 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T05:20:12.033Z,1628832012.033 [ThrusterServo](ERROR): Communications Fault
2021-08-13T05:20:12.037Z,1628832012.037 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T05:20:12.407Z,1628832012.407 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T05:20:12.413Z,1628832012.413 [ThrusterServo](INFO): Powering down
2021-08-13T05:20:13.258Z,1628832013.258 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T05:20:13.373Z,1628832013.373 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T05:20:13.377Z,1628832013.377 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T05:20:13.377Z,1628832013.377 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T05:27:15.399Z,1628832435.399 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:27:35.204Z,1628832455.204 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:27:55.378Z,1628832475.378 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T05:28:05.475Z,1628832485.475 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T05:28:25.285Z,1628832505.285 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:28:35.388Z,1628832515.388 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:29:05.289Z,1628832545.289 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:30:10.323Z,1628832610.323 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:30:49.921Z,1628832649.921 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:37:21.006Z,1628833041.006 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:37:55.774Z,1628833075.774 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:38:01.040Z,1628833081.040 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T05:38:01.040Z,1628833081.040 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T05:38:01.040Z,1628833081.040 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T05:38:01.101Z,1628833081.101 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T05:38:01.520Z,1628833081.520 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T05:38:02.296Z,1628833082.296 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T05:38:02.296Z,1628833082.296 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T05:39:06.072Z,1628833146.072 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:39:21.002Z,1628833161.002 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:39:25.858Z,1628833165.858 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:39:31.138Z,1628833171.138 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:39:35.956Z,1628833175.956 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:39:40.813Z,1628833180.813 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:39:46.054Z,1628833186.054 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:39:50.923Z,1628833190.923 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T05:40:05.880Z,1628833205.880 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:41:37.174Z,1628833297.174 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:43:53.764Z,1628833433.764 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T05:43:53.764Z,1628833433.764 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper] Stopped
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper:A] Stopped
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper](INFO): Running loop #4
2021-08-13T05:43:53.765Z,1628833433.765 [profile_station:CircleWrapper] Running Loop=4
2021-08-13T05:43:53.766Z,1628833433.766 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T05:43:53.766Z,1628833433.766 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T05:43:53.766Z,1628833433.766 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T05:43:53.766Z,1628833433.766 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T05:45:30.293Z,1628833530.293 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T05:46:28.053Z,1628833588.053 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:47:56.533Z,1628833676.533 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:48:06.249Z,1628833686.249 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T05:48:16.336Z,1628833696.336 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T05:48:46.254Z,1628833726.254 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T05:48:56.350Z,1628833736.350 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T05:57:54.903Z,1628834274.903 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:57:58.509Z,1628834278.509 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:59:21.791Z,1628834361.791 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:59:31.834Z,1628834371.834 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:59:37.103Z,1628834377.103 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T05:59:41.939Z,1628834381.939 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:59:46.787Z,1628834386.787 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:59:52.035Z,1628834392.035 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T05:59:56.894Z,1628834396.894 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 58
2021-08-13T06:00:07.798Z,1628834407.798 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T06:03:47.229Z,1628834627.229 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T06:08:37.270Z,1628834917.270 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T06:08:47.380Z,1628834927.380 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T06:08:57.473Z,1628834937.473 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:09:07.570Z,1628834947.570 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:09:17.283Z,1628834957.283 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T06:09:37.471Z,1628834977.471 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:09:42.331Z,1628834982.331 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:09:47.587Z,1628834987.587 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:16:46.927Z,1628835406.927 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T06:17:43.503Z,1628835463.503 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:17:59.249Z,1628835479.249 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T06:17:59.252Z,1628835479.252 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T06:18:43.338Z,1628835523.338 [profile_station:NeedComms] Running Loop=1
2021-08-13T06:18:43.338Z,1628835523.338 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2021-08-13T06:18:43.338Z,1628835523.338 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2021-08-13T06:18:43.338Z,1628835523.338 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T06:18:43.339Z,1628835523.339 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-13T06:18:43.339Z,1628835523.339 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-13T06:18:43.339Z,1628835523.339 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-13T06:18:43.356Z,1628835523.356 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T06:18:43.357Z,1628835523.357 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T06:18:43.357Z,1628835523.357 [profile_station:NeedComms:A] Running Loop=1
2021-08-13T06:18:43.359Z,1628835523.359 [profile_station:NeedComms:A](INFO): last time_fix was: 1628824722.000000 second since 1970/01/01T00:00:00Z 
2021-08-13T06:18:43.359Z,1628835523.359 [profile_station:NeedComms:A] Stopped
2021-08-13T06:19:07.560Z,1628835547.560 [profile_station:NeedComms:C] Running Loop=1
2021-08-13T06:19:08.312Z,1628835548.312 [Radio_Surface](INFO): Powering up
2021-08-13T06:19:13.612Z,1628835553.612 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T06:19:18.045Z,1628835558.045 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:19:25.775Z,1628835565.775 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:19:27.763Z,1628835567.763 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:19:43.734Z,1628835583.734 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:19:43.903Z,1628835583.903 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:19:52.781Z,1628835592.781 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:19:59.408Z,1628835599.408 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T06:19:59.482Z,1628835599.482 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:00.461Z,1628835600.461 [NAL9602](INFO): SBD MO Status=0, MOMSN=23637, MT Status=0, MTMSN=0
2021-08-13T06:20:00.461Z,1628835600.461 [NAL9602](INFO): No messages in MT queue
2021-08-13T06:20:00.486Z,1628835600.486 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:01.490Z,1628835601.490 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:02.496Z,1628835602.496 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:03.498Z,1628835603.498 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:04.503Z,1628835604.503 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:05.508Z,1628835605.508 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:06.510Z,1628835606.510 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:07.514Z,1628835607.514 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:08.520Z,1628835608.520 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:09.522Z,1628835609.522 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T06:20:10.249Z,1628835610.249 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006036
CHAN A1 (24V): -0.023934
CHAN A2 (12V): -0.005325
CHAN A3 (5V): -0.001225
CHAN B0 (3.3V): 0.000915
CHAN B1 (3.15aV): 0.000660
CHAN B2 (3.15bV): 0.000693
CHAN B3 (GND): 0.002110
OPEN: 0.006903
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T06:20:17.833Z,1628835617.833 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:20:18.881Z,1628835618.881 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:20:54.030Z,1628835654.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:21:01.493Z,1628835661.493 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:21:01.853Z,1628835661.853 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062101.00,A,4133.24680,N,07042.64769,W,0.894,0.00,130821,,,A*72
2021-08-13T06:21:01.856Z,1628835661.856 [NAL9602](INFO): GPS fix at 20210813T062101: (41.554113, -70.710795)
2021-08-13T06:21:01.873Z,1628835661.873 [UniversalFixResidualReporter](INFO): Fix residual: 2.7 %DT, over the last 7167.6 m. Residual distance 195.9 m at bearing 47.3 degrees. Fix at (41.5541, -70.7108) with 500.7 m made good.
2021-08-13T06:21:01.898Z,1628835661.898 [profile_station:NeedComms:C] Stopped
2021-08-13T06:21:01.898Z,1628835661.898 [profile_station:NeedComms:D] Running Loop=1
2021-08-13T06:21:18.137Z,1628835678.137 [NAL9602](INFO): SBD MO Status=1, MOMSN=23638, MT Status=0, MTMSN=0
2021-08-13T06:21:18.188Z,1628835678.188 [NAL9602](INFO): Sent 98 bytes from file Logs/20210812T232438/Courier0084.lzma
2021-08-13T06:21:18.188Z,1628835678.188 [NAL9602](INFO): Packets left to send: 0
2021-08-13T06:21:27.284Z,1628835687.284 [NAL9602](INFO): SBD MO Status=1, MOMSN=23639, MT Status=0, MTMSN=0
2021-08-13T06:21:27.333Z,1628835687.333 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:21:27.333Z,1628835687.333 [NAL9602](INFO): Packets left to send: 10
2021-08-13T06:21:29.186Z,1628835689.186 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:21:34.500Z,1628835694.500 [NAL9602](INFO): SBD MO Status=1, MOMSN=23640, MT Status=0, MTMSN=0
2021-08-13T06:21:34.556Z,1628835694.556 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:21:34.556Z,1628835694.556 [NAL9602](INFO): Packets left to send: 9
2021-08-13T06:21:43.771Z,1628835703.771 [NAL9602](INFO): SBD MO Status=1, MOMSN=23641, MT Status=0, MTMSN=0
2021-08-13T06:21:43.818Z,1628835703.818 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:21:43.819Z,1628835703.819 [NAL9602](INFO): Packets left to send: 8
2021-08-13T06:21:54.804Z,1628835714.804 [NAL9602](INFO): SBD MO Status=1, MOMSN=23642, MT Status=0, MTMSN=0
2021-08-13T06:21:54.860Z,1628835714.860 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:21:54.861Z,1628835714.861 [NAL9602](INFO): Packets left to send: 7
2021-08-13T06:22:04.328Z,1628835724.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:22:06.076Z,1628835726.076 [NAL9602](INFO): SBD MO Status=1, MOMSN=23643, MT Status=0, MTMSN=0
2021-08-13T06:22:06.124Z,1628835726.124 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:22:06.125Z,1628835726.125 [NAL9602](INFO): Packets left to send: 6
2021-08-13T06:22:26.368Z,1628835746.368 [NAL9602](INFO): SBD MO Status=1, MOMSN=23644, MT Status=0, MTMSN=0
2021-08-13T06:22:26.420Z,1628835746.420 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:22:26.420Z,1628835746.420 [NAL9602](INFO): Packets left to send: 5
2021-08-13T06:22:33.448Z,1628835753.448 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003250
2021-08-13T06:22:36.384Z,1628835756.384 [NAL9602](INFO): SBD MO Status=1, MOMSN=23645, MT Status=0, MTMSN=0
2021-08-13T06:22:36.437Z,1628835756.437 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:22:36.437Z,1628835756.437 [NAL9602](INFO): Packets left to send: 4
2021-08-13T06:22:37.473Z,1628835757.473 [DataOverHttps](INFO): Sending 2017 bytes from file Logs/20210812T232438/Express0085.lzma
2021-08-13T06:22:38.470Z,1628835758.470 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0085.lzma.bak
2021-08-13T06:22:38.470Z,1628835758.470 [DataOverHttps](INFO): SBD MOMSN=430200
2021-08-13T06:22:40.045Z,1628835760.045 [profile_station:NeedComms:D] Stopped
2021-08-13T06:22:40.046Z,1628835760.046 [profile_station:NeedComms:E] Running Loop=1
2021-08-13T06:22:42.037Z,1628835762.037 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,062241.00,A,4133.24326,N,07042.64774,W,0.330,8.43,130821,,,A*7A
2021-08-13T06:22:42.039Z,1628835762.039 [NAL9602](INFO): GPS fix at 20210813T062241: (41.554054, -70.710796)
2021-08-13T06:22:42.090Z,1628835762.090 [profile_station:NeedComms:E] Stopped
2021-08-13T06:22:42.092Z,1628835762.092 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2021-08-13T06:22:42.092Z,1628835762.092 [profile_station:NeedComms] Stopped
2021-08-13T06:22:42.092Z,1628835762.092 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2021-08-13T06:22:42.092Z,1628835762.092 [profile_station:NeedComms:B.GoToSurface] Stopped
2021-08-13T06:22:42.093Z,1628835762.093 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T06:22:42.929Z,1628835762.929 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-13T06:22:42.930Z,1628835762.930 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.
2021-08-13T06:23:14.154Z,1628835794.154 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T06:23:29.538Z,1628835809.538 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:23:43.735Z,1628835823.735 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.245136
2021-08-13T06:23:48.911Z,1628835828.911 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:24:14.996Z,1628835854.996 [Radio_Surface](INFO): Powering down
2021-08-13T06:24:20.881Z,1628835860.881 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T06:24:21.885Z,1628835861.885 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T06:25:41.252Z,1628835941.252 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T06:26:39.411Z,1628835999.411 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:28:13.529Z,1628836093.529 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T06:28:33.334Z,1628836113.334 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T06:28:43.436Z,1628836123.436 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:28:53.552Z,1628836133.552 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:29:03.268Z,1628836143.268 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T06:29:23.440Z,1628836163.440 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T06:32:19.246Z,1628836339.246 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T06:32:39.402Z,1628836359.402 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:36:07.064Z,1628836567.064 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T06:36:07.064Z,1628836567.064 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T06:36:07.064Z,1628836567.064 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T06:36:07.170Z,1628836567.170 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T06:36:07.544Z,1628836567.544 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T06:36:08.340Z,1628836568.340 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T06:36:08.340Z,1628836568.340 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T06:37:31.532Z,1628836651.532 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T06:37:31.532Z,1628836651.532 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T06:37:31.532Z,1628836651.532 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T06:37:31.624Z,1628836651.624 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T06:37:31.964Z,1628836651.964 [RDI_Pathfinder](INFO): Powering down
2021-08-13T06:37:32.778Z,1628836652.778 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T06:37:32.778Z,1628836652.778 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T06:40:24.002Z,1628836824.002 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:40:49.042Z,1628836849.042 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:40:53.908Z,1628836853.908 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:41:08.861Z,1628836868.861 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T06:41:23.838Z,1628836883.838 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T06:41:29.055Z,1628836889.055 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:44:36.533Z,1628837076.533 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T06:44:36.533Z,1628837076.533 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T06:44:36.534Z,1628837076.534 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T06:44:36.534Z,1628837076.534 [profile_station:CircleWrapper] Stopped
2021-08-13T06:44:36.534Z,1628837076.534 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T06:44:36.534Z,1628837076.534 [profile_station:CircleWrapper:A] Stopped
2021-08-13T06:44:36.534Z,1628837076.534 [profile_station:CircleWrapper](INFO): Running loop #5
2021-08-13T06:44:36.535Z,1628837076.535 [profile_station:CircleWrapper] Running Loop=5
2021-08-13T06:44:36.535Z,1628837076.535 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T06:44:36.535Z,1628837076.535 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T06:44:36.535Z,1628837076.535 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T06:44:36.535Z,1628837076.535 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T06:46:05.993Z,1628837165.993 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8336,4.74427,4740.40
2021-08-13T06:49:06.387Z,1628837346.387 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T06:49:14.478Z,1628837354.478 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:49:34.268Z,1628837374.268 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:49:46.397Z,1628837386.397 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:49:56.508Z,1628837396.508 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T06:50:04.563Z,1628837404.563 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:50:14.291Z,1628837414.291 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T06:55:04.791Z,1628837704.791 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:00:55.043Z,1628838055.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:01:05.151Z,1628838065.151 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:01:14.843Z,1628838074.843 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:01:20.078Z,1628838080.078 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:01:24.930Z,1628838084.930 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:01:29.828Z,1628838089.828 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:01:35.048Z,1628838095.048 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:01:39.915Z,1628838099.915 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:01:45.951Z,1628838105.951 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:01:49.000Z,1628838110.000 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T07:01:50.000Z,1628838110.000 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T07:01:50.000Z,1628838110.000 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T07:01:50.120Z,1628838110.120 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T07:01:50.496Z,1628838110.496 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T07:01:51.288Z,1628838111.288 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T07:01:51.288Z,1628838111.288 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T07:03:02.440Z,1628838182.440 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2021-08-13T07:03:02.440Z,1628838182.440 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2021-08-13T07:03:02.440Z,1628838182.440 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T07:03:02.440Z,1628838182.440 [ThrusterServo](ERROR): Communications Fault
2021-08-13T07:03:02.453Z,1628838182.453 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T07:03:02.821Z,1628838182.821 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T07:03:02.821Z,1628838182.821 [ThrusterServo](INFO): Powering down
2021-08-13T07:03:03.609Z,1628838183.609 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T07:03:03.725Z,1628838183.725 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T07:03:03.729Z,1628838183.729 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T07:03:03.729Z,1628838183.729 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T07:04:40.065Z,1628838280.065 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:04:41.597Z,1628838281.597 [CTD_Seabird](ERROR): Failed to parse device response: 5.52,23.8165,4.743833
2021-08-13T07:04:59.483Z,1628838299.483 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:07:28.945Z,1628838448.945 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:09:45.497Z,1628838585.497 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T07:09:55.279Z,1628838595.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:10:07.306Z,1628838607.306 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:10:15.383Z,1628838615.383 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T07:10:35.607Z,1628838635.607 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:10:45.303Z,1628838645.303 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T07:10:57.434Z,1628838657.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T07:11:05.504Z,1628838665.504 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:11:23.272Z,1628838683.272 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:11:25.389Z,1628838685.389 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:13:12.739Z,1628838792.739 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:14:03.307Z,1628838843.307 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:14:14.151Z,1628838854.151 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:19:41.008Z,1628839181.008 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:19:50.739Z,1628839190.739 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:19:55.953Z,1628839195.953 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:20:00.830Z,1628839200.830 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:20:06.072Z,1628839206.072 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T07:20:06.072Z,1628839206.072 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T07:20:06.072Z,1628839206.072 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T07:20:06.228Z,1628839206.228 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T07:20:06.516Z,1628839206.516 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T07:20:07.372Z,1628839207.372 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T07:20:07.372Z,1628839207.372 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T07:21:05.845Z,1628839265.845 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:21:11.097Z,1628839271.097 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 56
2021-08-13T07:21:15.952Z,1628839275.952 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:21:26.043Z,1628839286.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:22:06.070Z,1628839326.070 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:22:21.016Z,1628839341.016 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:24:14.938Z,1628839454.938 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2021-08-13T07:25:24.007Z,1628839524.007 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T07:25:24.009Z,1628839524.009 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T07:25:28.052Z,1628839528.052 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:26:06.051Z,1628839566.051 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:30:21.358Z,1628839821.358 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:30:31.469Z,1628839831.469 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T07:30:41.557Z,1628839841.557 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T07:31:03.408Z,1628839863.408 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T07:31:11.265Z,1628839871.265 [ThrusterServo](FAULT): Invalid EZ Servo response:""
2021-08-13T07:31:11.265Z,1628839871.265 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-13T07:31:11.265Z,1628839871.265 [ThrusterServo](ERROR): Communications Fault
2021-08-13T07:31:11.269Z,1628839871.269 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-13T07:31:11.518Z,1628839871.518 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-13T07:31:11.518Z,1628839871.518 [ThrusterServo](INFO): Powering down
2021-08-13T07:31:12.314Z,1628839872.314 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-13T07:31:12.433Z,1628839872.433 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-13T07:31:12.437Z,1628839872.437 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-13T07:31:12.437Z,1628839872.437 [ThrusterServo] No Fault, FailCount= 1
2021-08-13T07:33:17.552Z,1628839997.552 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T07:33:17.553Z,1628839997.553 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T07:33:17.553Z,1628839997.553 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T07:33:17.553Z,1628839997.553 [profile_station:CircleWrapper] Stopped
2021-08-13T07:33:17.553Z,1628839997.553 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper:A] Stopped
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper](INFO): Running loop #6
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper] Running Loop=6
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T07:33:17.554Z,1628839997.554 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T07:40:51.609Z,1628840451.609 [CTD_Seabird](ERROR): Failed to parse device response: 3,4.74503,4711.86
2021-08-13T07:41:32.037Z,1628840492.037 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:41:42.961Z,1628840502.961 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:41:46.999Z,1628840506.999 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:41:53.049Z,1628840513.049 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:42:16.908Z,1628840536.908 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:42:20.137Z,1628840540.137 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T07:42:26.981Z,1628840546.981 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:43:56.377Z,1628840636.377 [CTD_Seabird](ERROR): Failed to parse device response: 3741.25
2021-08-13T07:44:09.262Z,1628840649.262 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T07:44:52.838Z,1628840692.838 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T07:45:16.730Z,1628840716.730 [CTD_Seabird](ERROR): Failed to parse device response: .13
2021-08-13T07:45:27.195Z,1628840727.195 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:46:26.169Z,1628840786.169 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T07:50:07.249Z,1628841007.249 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:50:17.279Z,1628841017.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:50:57.285Z,1628841057.285 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T07:51:09.411Z,1628841069.411 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T07:52:17.367Z,1628841137.367 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T07:58:03.905Z,1628841483.905 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T07:59:41.659Z,1628841581.659 [Micromodem](INFO): Nmea in: CAREV,075942,COPROC,0.20.0.39330*76

2021-08-13T07:59:41.659Z,1628841581.659 [Micromodem](ERROR): Response from modem failed NMEA checksum: CAREV,075942,COPROC,0.20.0.39330*76
 expected 0
2021-08-13T08:01:23.093Z,1628841683.093 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T08:01:42.883Z,1628841702.883 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T08:01:48.127Z,1628841708.127 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:01:52.991Z,1628841712.991 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T08:01:59.043Z,1628841719.043 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T08:02:43.064Z,1628841763.064 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:03:33.159Z,1628841813.159 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T08:04:03.064Z,1628841843.064 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T08:04:26.083Z,1628841866.083 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:10:13.534Z,1628842213.534 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T08:10:23.264Z,1628842223.264 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:10:43.435Z,1628842243.435 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:11:03.310Z,1628842263.310 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T08:11:13.349Z,1628842273.349 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T08:11:18.578Z,1628842278.578 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:11:23.463Z,1628842283.463 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T08:11:23.463Z,1628842283.463 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T08:11:23.463Z,1628842283.463 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T08:11:23.644Z,1628842283.644 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T08:11:23.904Z,1628842283.904 [RDI_Pathfinder](INFO): Powering down
2021-08-13T08:11:24.716Z,1628842284.716 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T08:11:24.716Z,1628842284.716 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T08:11:27.076Z,1628842287.076 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:13:14.138Z,1628842394.138 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:13:42.011Z,1628842422.011 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T08:17:44.826Z,1628842664.826 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:20:10.328Z,1628842810.328 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T08:20:10.434Z,1628842810.434 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:11.438Z,1628842811.438 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:12.281Z,1628842812.281 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T08:20:12.282Z,1628842812.282 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T08:20:12.282Z,1628842812.282 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T08:20:12.282Z,1628842812.282 [profile_station:CircleWrapper] Stopped
2021-08-13T08:20:12.282Z,1628842812.282 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper:A] Stopped
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper](INFO): Running loop #7
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper] Running Loop=7
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T08:20:12.283Z,1628842812.283 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T08:20:12.442Z,1628842812.442 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:13.446Z,1628842813.446 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:14.450Z,1628842814.450 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:15.454Z,1628842815.454 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:16.458Z,1628842816.458 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:17.462Z,1628842817.462 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:18.470Z,1628842818.470 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:19.470Z,1628842819.470 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:20.474Z,1628842820.474 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T08:20:21.334Z,1628842821.334 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005823
CHAN A1 (24V): -0.023532
CHAN A2 (12V): -0.005341
CHAN A3 (5V): -0.001622
CHAN B0 (3.3V): 0.000870
CHAN B1 (3.15aV): 0.000692
CHAN B2 (3.15bV): 0.000657
CHAN B3 (GND): 0.001542
OPEN: 0.006665
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T08:21:48.838Z,1628842908.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:21:54.090Z,1628842914.090 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:21:58.961Z,1628842918.961 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:22:03.836Z,1628842923.836 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:22:09.031Z,1628842929.031 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:22:13.887Z,1628842933.887 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T08:22:19.188Z,1628842939.188 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:22:49.032Z,1628842969.032 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:23:41.191Z,1628843021.191 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T08:24:04.175Z,1628843044.175 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:24:09.035Z,1628843049.035 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:24:38.947Z,1628843078.947 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:28:09.451Z,1628843289.451 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:28:39.343Z,1628843319.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:29:09.254Z,1628843349.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T08:29:29.465Z,1628843369.465 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T08:29:49.259Z,1628843389.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:32:34.185Z,1628843554.185 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2021-08-13T08:32:47.888Z,1628843567.888 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T08:32:47.896Z,1628843567.896 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T08:35:55.345Z,1628843755.345 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:36:45.426Z,1628843805.426 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:38:00.774Z,1628843880.774 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8414,4.74494,4745.03
2021-08-13T08:39:25.009Z,1628843965.009 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:41:54.906Z,1628844114.906 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:42:11.069Z,1628844131.069 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:42:15.171Z,1628844135.171 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:42:19.962Z,1628844139.962 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:42:24.823Z,1628844144.823 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:42:30.051Z,1628844150.051 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T08:42:34.914Z,1628844154.914 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:42:40.175Z,1628844160.175 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T08:43:14.908Z,1628844194.908 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:45:44.827Z,1628844344.827 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T08:46:02.974Z,1628844362.974 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:48:35.275Z,1628844515.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:48:42.146Z,1628844522.146 [Micromodem](INFO): Nmea in: 4843,COPROC,0.20.0.39330*78

2021-08-13T08:48:42.146Z,1628844522.146 [Micromodem](ERROR): Response from modem failed NMEA checksum: 4843,COPROC,0.20.0.39330*78
 expected 0
2021-08-13T08:48:42.389Z,1628844522.389 [CTD_Seabird](ERROR): Failed to parse device response: ,23.7930,4.74168,4701.77
2021-08-13T08:48:45.417Z,1628844525.417 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:48:55.481Z,1628844535.481 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T08:49:33.479Z,1628844573.479 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:49:37.535Z,1628844577.535 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T08:50:05.380Z,1628844605.380 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T08:51:33.040Z,1628844693.040 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:54:06.169Z,1628844846.169 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:56:57.062Z,1628845017.062 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T08:57:01.171Z,1628845021.171 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-13T09:02:17.054Z,1628845337.054 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:02:36.030Z,1628845356.030 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:02:46.127Z,1628845366.127 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:02:55.833Z,1628845375.833 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:03:01.137Z,1628845381.137 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T09:03:16.043Z,1628845396.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:04:40.922Z,1628845480.922 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T09:04:46.119Z,1628845486.119 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 28
2021-08-13T09:05:16.022Z,1628845516.022 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:06:14.211Z,1628845574.211 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T09:06:14.211Z,1628845574.211 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T09:06:14.214Z,1628845574.214 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T09:06:14.214Z,1628845574.214 [profile_station:CircleWrapper] Stopped
2021-08-13T09:06:14.214Z,1628845574.214 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper:A] Stopped
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper](INFO): Running loop #8
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper] Running Loop=8
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T09:06:14.215Z,1628845574.215 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T09:06:15.019Z,1628845575.019 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:06:59.937Z,1628845619.937 [CTD_Seabird](ERROR): Failed to parse device response: .56
2021-08-13T09:08:11.359Z,1628845691.359 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:09:01.485Z,1628845741.485 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:09:11.175Z,1628845751.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:09:21.275Z,1628845761.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T09:09:31.373Z,1628845771.373 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T09:14:39.220Z,1628846079.220 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T09:17:30.907Z,1628846250.907 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:22:16.945Z,1628846536.945 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:22:42.906Z,1628846562.906 [CTD_Seabird](ERROR): Failed to parse device response: 2.89,24730.90
2021-08-13T09:23:07.054Z,1628846587.054 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:23:17.191Z,1628846597.191 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:23:21.698Z,1628846601.698 [profile_station:NeedComms] Running Loop=1
2021-08-13T09:23:21.698Z,1628846601.698 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2021-08-13T09:23:21.698Z,1628846601.698 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2021-08-13T09:23:21.698Z,1628846601.698 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T09:23:21.699Z,1628846601.699 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-13T09:23:21.699Z,1628846601.699 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-13T09:23:21.700Z,1628846601.700 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-13T09:23:21.701Z,1628846601.701 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T09:23:21.701Z,1628846601.701 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T09:23:21.702Z,1628846601.702 [profile_station:NeedComms:A] Running Loop=1
2021-08-13T09:23:21.706Z,1628846601.706 [profile_station:NeedComms:A](INFO): last time_fix was: 1628835761.000000 second since 1970/01/01T00:00:00Z 
2021-08-13T09:23:21.706Z,1628846601.706 [profile_station:NeedComms:A] Stopped
2021-08-13T09:23:51.909Z,1628846631.909 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:23:57.201Z,1628846637.201 [profile_station:NeedComms:C] Running Loop=1
2021-08-13T09:23:57.920Z,1628846637.920 [Radio_Surface](INFO): Powering up
2021-08-13T09:24:03.560Z,1628846643.560 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T09:24:21.029Z,1628846661.029 [NAL9602](INFO): SBD MO Status=0, MOMSN=23646, MT Status=0, MTMSN=0
2021-08-13T09:24:21.029Z,1628846661.029 [NAL9602](INFO): No messages in MT queue
2021-08-13T09:24:33.689Z,1628846673.689 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:25:08.833Z,1628846708.833 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:25:43.972Z,1628846743.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:26:19.125Z,1628846779.125 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:26:33.944Z,1628846793.944 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092633.00,A,4132.96996,N,07042.67880,W,0.408,0.00,130821,,,A*79
2021-08-13T09:26:33.946Z,1628846793.946 [NAL9602](INFO): GPS fix at 20210813T092633: (41.549499, -70.711313)
2021-08-13T09:26:34.003Z,1628846794.003 [UniversalFixResidualReporter](INFO): Fix residual: 3.2 %DT, over the last 7190.2 m. Residual distance 232.9 m at bearing 54.6 degrees. Fix at (41.5495, -70.7113) with 508.3 m made good.
2021-08-13T09:26:34.019Z,1628846794.019 [profile_station:NeedComms:C] Stopped
2021-08-13T09:26:34.019Z,1628846794.019 [profile_station:NeedComms:D] Running Loop=1
2021-08-13T09:26:54.265Z,1628846814.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:26:59.168Z,1628846819.168 [NAL9602](INFO): SBD MO Status=1, MOMSN=23647, MT Status=0, MTMSN=0
2021-08-13T09:26:59.220Z,1628846819.220 [NAL9602](INFO): Sent 91 bytes from file Logs/20210812T232438/Courier0087.lzma
2021-08-13T09:26:59.220Z,1628846819.220 [NAL9602](INFO): Packets left to send: 0
2021-08-13T09:27:11.133Z,1628846831.133 [NAL9602](INFO): SBD MO Status=1, MOMSN=23648, MT Status=0, MTMSN=0
2021-08-13T09:27:11.181Z,1628846831.181 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0088.lzma
2021-08-13T09:27:11.181Z,1628846831.181 [NAL9602](INFO): Packets left to send: 10
2021-08-13T09:27:21.441Z,1628846841.441 [NAL9602](INFO): SBD MO Status=1, MOMSN=23649, MT Status=0, MTMSN=0
2021-08-13T09:27:21.504Z,1628846841.504 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0088.lzma
2021-08-13T09:27:21.504Z,1628846841.504 [NAL9602](INFO): Packets left to send: 9
2021-08-13T09:27:23.396Z,1628846843.396 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003242
2021-08-13T09:27:27.417Z,1628846847.417 [DataOverHttps](INFO): Sending 1926 bytes from file Logs/20210812T232438/Express0088.lzma
2021-08-13T09:27:28.414Z,1628846848.414 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0088.lzma.bak
2021-08-13T09:27:28.414Z,1628846848.414 [DataOverHttps](INFO): SBD MOMSN=430765
2021-08-13T09:27:30.329Z,1628846850.329 [NAL9602](INFO): SBD MO Status=1, MOMSN=23650, MT Status=0, MTMSN=0
2021-08-13T09:27:30.380Z,1628846850.380 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0088.lzma
2021-08-13T09:27:30.380Z,1628846850.380 [NAL9602](INFO): Packets left to send: 8
2021-08-13T09:27:30.489Z,1628846850.489 [profile_station:NeedComms:D] Stopped
2021-08-13T09:27:30.489Z,1628846850.489 [profile_station:NeedComms:E] Running Loop=1
2021-08-13T09:27:32.793Z,1628846852.793 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092732.00,A,4132.96946,N,07042.67309,W,0.700,8.43,130821,,,A*7A
2021-08-13T09:27:32.795Z,1628846852.795 [NAL9602](INFO): GPS fix at 20210813T092732: (41.549491, -70.711218)
2021-08-13T09:27:32.841Z,1628846852.841 [profile_station:NeedComms:E] Stopped
2021-08-13T09:27:32.842Z,1628846852.842 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2021-08-13T09:27:32.842Z,1628846852.842 [profile_station:NeedComms] Stopped
2021-08-13T09:27:32.842Z,1628846852.842 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2021-08-13T09:27:32.842Z,1628846852.842 [profile_station:NeedComms:B.GoToSurface] Stopped
2021-08-13T09:27:32.842Z,1628846852.842 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T09:27:33.575Z,1628846853.575 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm.
2021-08-13T09:27:33.575Z,1628846853.575 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm.
2021-08-13T09:27:33.577Z,1628846853.577 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm.
2021-08-13T09:28:05.474Z,1628846885.474 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T09:28:34.980Z,1628846914.980 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:28:37.412Z,1628846917.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:28:39.035Z,1628846919.035 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm (1 active estimators).
2021-08-13T09:28:47.142Z,1628846927.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:28:57.217Z,1628846937.217 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T09:29:06.119Z,1628846946.119 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm (2 active estimators).
2021-08-13T09:29:14.869Z,1628846954.869 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255756
2021-08-13T09:29:17.417Z,1628846957.417 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T09:29:39.356Z,1628846979.356 [Radio_Surface](INFO): Powering down
2021-08-13T09:29:51.012Z,1628846991.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T09:29:52.016Z,1628846992.016 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-13T09:29:57.432Z,1628846997.432 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:30:08.721Z,1628847008.721 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:35:52.941Z,1628847352.941 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:37:05.369Z,1628847425.369 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T09:40:11.552Z,1628847611.552 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T09:40:11.555Z,1628847611.555 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T09:42:47.902Z,1628847767.902 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:42:57.995Z,1628847777.995 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:43:02.849Z,1628847782.849 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:43:08.091Z,1628847788.091 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:43:12.949Z,1628847792.949 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T09:43:27.906Z,1628847807.906 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:43:37.995Z,1628847817.995 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:43:48.114Z,1628847828.114 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:44:36.276Z,1628847876.276 [CTD_Seabird](ERROR): Failed to parse device response: .29
2021-08-13T09:44:47.924Z,1628847887.924 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 31
2021-08-13T09:48:53.150Z,1628848133.150 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:49:03.237Z,1628848143.237 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T09:49:13.350Z,1628848153.350 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T09:49:23.443Z,1628848163.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T09:49:33.172Z,1628848173.172 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T09:49:43.243Z,1628848183.243 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T09:52:08.320Z,1628848328.320 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T09:53:53.303Z,1628848433.303 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T09:58:27.714Z,1628848707.714 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8637,4.74395,4764.14
2021-08-13T10:00:25.613Z,1628848825.613 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T10:00:25.613Z,1628848825.613 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper] Stopped
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper:A] Stopped
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper](INFO): Running loop #9
2021-08-13T10:00:25.614Z,1628848825.614 [profile_station:CircleWrapper] Running Loop=9
2021-08-13T10:00:25.615Z,1628848825.615 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T10:00:25.615Z,1628848825.615 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T10:00:25.615Z,1628848825.615 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T10:00:25.615Z,1628848825.615 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T10:02:13.886Z,1628848933.886 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:02:28.847Z,1628848948.847 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:02:40.137Z,1628848960.137 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:02:43.834Z,1628848963.834 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:02:49.018Z,1628848969.018 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:02:59.163Z,1628848979.163 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T10:03:08.862Z,1628848988.862 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T10:07:39.148Z,1628849259.148 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:07:49.285Z,1628849269.285 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T10:07:59.331Z,1628849279.331 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:08:39.342Z,1628849319.342 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:08:49.452Z,1628849329.452 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:09:09.243Z,1628849349.243 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:09:16.906Z,1628849356.906 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:11:25.819Z,1628849485.819 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:14:24.808Z,1628849664.808 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:15:31.453Z,1628849731.453 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T10:20:21.564Z,1628850021.564 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T10:20:22.166Z,1628850022.166 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:23.178Z,1628850023.178 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:24.182Z,1628850024.182 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:25.186Z,1628850025.186 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:26.190Z,1628850026.190 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:27.194Z,1628850027.194 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:28.198Z,1628850028.198 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:29.202Z,1628850029.202 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:30.206Z,1628850030.206 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:31.210Z,1628850031.210 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:32.214Z,1628850032.214 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T10:20:32.495Z,1628850032.495 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005655
CHAN A1 (24V): -0.023366
CHAN A2 (12V): -0.005016
CHAN A3 (5V): -0.001245
CHAN B0 (3.3V): 0.000729
CHAN B1 (3.15aV): 0.000742
CHAN B2 (3.15bV): 0.000436
CHAN B3 (GND): 0.002001
OPEN: 0.006445
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T10:26:30.030Z,1628850390.030 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:26:45.330Z,1628850405.330 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:26:55.136Z,1628850415.136 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T10:27:00.269Z,1628850420.269 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:27:05.150Z,1628850425.150 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:27:10.367Z,1628850430.367 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:27:15.225Z,1628850435.225 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:27:25.332Z,1628850445.332 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T10:28:20.281Z,1628850500.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:28:30.361Z,1628850510.361 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 72
2021-08-13T10:28:40.462Z,1628850520.462 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:28:45.309Z,1628850525.309 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:29:00.284Z,1628850540.284 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T10:29:10.378Z,1628850550.378 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:29:40.265Z,1628850580.265 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:33:29.351Z,1628850809.351 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:34:36.425Z,1628850876.425 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T10:36:15.790Z,1628850975.790 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:36:22.291Z,1628850982.291 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:39:58.448Z,1628851198.448 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:45:42.262Z,1628851542.262 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T10:46:46.102Z,1628851606.102 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:47:16.394Z,1628851636.394 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:47:21.236Z,1628851641.236 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T10:47:23.667Z,1628851643.667 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T10:47:23.667Z,1628851643.667 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T10:47:23.667Z,1628851643.667 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T10:47:23.667Z,1628851643.667 [profile_station:CircleWrapper] Stopped
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper:A] Stopped
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper](INFO): Running loop #10
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper] Running Loop=10
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T10:47:23.668Z,1628851643.668 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T10:47:23.669Z,1628851643.669 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T10:47:23.669Z,1628851643.669 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T10:47:26.135Z,1628851646.135 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:47:31.315Z,1628851651.315 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:47:32.529Z,1628851652.529 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T10:47:32.531Z,1628851652.531 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T10:47:36.206Z,1628851656.206 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T10:47:46.333Z,1628851666.333 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T10:47:51.139Z,1628851671.139 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:48:26.286Z,1628851706.286 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:49:01.413Z,1628851741.413 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:49:11.179Z,1628851751.179 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:49:21.220Z,1628851761.220 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:49:26.474Z,1628851766.474 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:49:31.309Z,1628851771.309 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:49:51.185Z,1628851791.185 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:50:01.240Z,1628851801.240 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:50:26.281Z,1628851826.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:50:36.379Z,1628851836.379 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T10:50:46.496Z,1628851846.496 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T10:50:46.496Z,1628851846.496 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T10:50:46.496Z,1628851846.496 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T10:50:46.712Z,1628851846.712 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T10:50:46.920Z,1628851846.920 [RDI_Pathfinder](INFO): Powering down
2021-08-13T10:50:47.751Z,1628851847.751 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T10:50:47.752Z,1628851847.752 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T10:52:06.451Z,1628851926.451 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:56:52.515Z,1628852212.515 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T10:57:11.915Z,1628852231.915 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-13T10:57:11.915Z,1628852231.915 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-13T10:57:11.915Z,1628852231.915 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-13T10:57:12.040Z,1628852232.040 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-13T10:57:12.368Z,1628852232.368 [RDI_PathfinderUp](INFO): Powering down
2021-08-13T10:57:13.160Z,1628852233.160 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-13T10:57:13.160Z,1628852233.160 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-13T10:58:31.891Z,1628852311.891 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:58:41.996Z,1628852321.996 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:59:01.771Z,1628852341.771 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T10:59:02.203Z,1628852342.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T10:59:06.671Z,1628852346.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:00:16.930Z,1628852416.930 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:01:00.970Z,1628852460.970 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T11:02:26.206Z,1628852546.206 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T11:06:11.618Z,1628852771.618 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8540,4.74445,4748.57
2021-08-13T11:06:42.743Z,1628852802.743 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:07:32.942Z,1628852852.942 [CTD_Seabird](ERROR): Failed to parse device response: ,23.8451,4.74544,4738.22
2021-08-13T11:07:44.200Z,1628852864.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T11:08:22.196Z,1628852902.196 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:08:42.339Z,1628852922.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:08:52.446Z,1628852932.446 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:09:12.244Z,1628852952.244 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:09:22.334Z,1628852962.334 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T11:18:26.229Z,1628853506.229 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:18:37.939Z,1628853517.939 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:18:47.658Z,1628853527.658 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:18:52.904Z,1628853532.904 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:18:57.739Z,1628853537.739 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:19:07.843Z,1628853547.843 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T11:19:12.690Z,1628853552.690 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-13T11:19:18.748Z,1628853558.748 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:28:18.171Z,1628854098.171 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:28:34.673Z,1628854114.673 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T11:28:58.171Z,1628854138.171 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:29:08.191Z,1628854148.191 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:29:18.301Z,1628854158.301 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T11:29:28.406Z,1628854168.406 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:29:32.459Z,1628854172.459 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:29:48.211Z,1628854188.211 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T11:29:58.297Z,1628854198.297 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:30:08.405Z,1628854208.405 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-13T11:30:18.510Z,1628854218.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:30:20.504Z,1628854220.504 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:31:39.057Z,1628854299.057 [CTD_Seabird](ERROR): Failed to parse device response: 4.19,23.855.44
2021-08-13T11:31:43.731Z,1628854303.731 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:33:00.489Z,1628854380.489 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:33:25.552Z,1628854405.552 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T11:33:25.552Z,1628854405.552 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T11:33:25.553Z,1628854405.553 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T11:33:25.553Z,1628854405.553 [profile_station:CircleWrapper] Stopped
2021-08-13T11:33:25.553Z,1628854405.553 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T11:33:25.553Z,1628854405.553 [profile_station:CircleWrapper:A] Stopped
2021-08-13T11:33:25.553Z,1628854405.553 [profile_station:CircleWrapper](INFO): Running loop #11
2021-08-13T11:33:25.554Z,1628854405.554 [profile_station:CircleWrapper] Running Loop=11
2021-08-13T11:33:25.554Z,1628854405.554 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T11:33:25.554Z,1628854405.554 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T11:33:25.554Z,1628854405.554 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T11:33:25.554Z,1628854405.554 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T11:35:54.229Z,1628854554.229 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:38:33.838Z,1628854713.838 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:38:49.964Z,1628854729.964 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T11:38:58.847Z,1628854738.847 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:39:03.698Z,1628854743.698 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:39:08.946Z,1628854748.946 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:39:13.787Z,1628854753.787 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:39:18.708Z,1628854758.708 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:39:23.909Z,1628854763.909 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:39:33.993Z,1628854773.993 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:39:38.861Z,1628854778.861 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:39:43.714Z,1628854783.714 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T11:40:08.333Z,1628854808.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:40:35.802Z,1628854835.802 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:41:23.919Z,1628854883.919 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T11:43:08.949Z,1628854988.949 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T11:48:44.272Z,1628855324.272 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:48:54.387Z,1628855334.387 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:49:04.479Z,1628855344.479 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:49:14.179Z,1628855354.179 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:49:24.278Z,1628855364.278 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T11:49:34.444Z,1628855374.444 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T11:49:46.507Z,1628855386.507 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T11:50:04.296Z,1628855404.296 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-13T11:50:04.296Z,1628855404.296 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-13T11:50:04.296Z,1628855404.296 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-13T11:50:04.410Z,1628855404.410 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-13T11:50:04.756Z,1628855404.756 [RDI_Pathfinder](INFO): Powering down
2021-08-13T11:50:05.624Z,1628855405.624 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-13T11:50:05.624Z,1628855405.624 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-13T11:54:56.793Z,1628855696.793 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-13T11:54:56.796Z,1628855696.796 [BPC1](INFO): Received data from all battery sticks.
2021-08-13T11:58:39.810Z,1628855919.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:58:49.961Z,1628855929.961 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:04.855Z,1628855944.855 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:09.702Z,1628855949.702 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:14.955Z,1628855954.955 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:19.812Z,1628855959.812 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:29.907Z,1628855969.907 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T11:59:40.052Z,1628855980.052 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T11:59:44.064Z,1628855984.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-13T12:01:25.044Z,1628856085.044 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:05:20.253Z,1628856320.253 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-13T12:05:30.000Z,1628856330.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:05:36.020Z,1628856336.020 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T12:05:40.039Z,1628856340.039 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:06:00.253Z,1628856360.253 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T12:06:12.000Z,1628856372.000 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T12:06:18.814Z,1628856378.814 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:06:20.042Z,1628856380.042 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-13T12:09:10.205Z,1628856550.205 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:11:02.030Z,1628856662.030 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T12:11:14.953Z,1628856674.953 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:11:32.751Z,1628856692.751 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:18:41.821Z,1628857121.821 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:19:12.926Z,1628857152.926 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T12:19:12.926Z,1628857152.926 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper] Stopped
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper:A] Stopped
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper](INFO): Running loop #12
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper] Running Loop=12
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper:A] Running Loop=1
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2021-08-13T12:19:12.927Z,1628857152.927 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2021-08-13T12:19:15.730Z,1628857155.730 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:19:30.666Z,1628857170.666 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:19:35.963Z,1628857175.963 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:19:40.755Z,1628857180.755 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:19:45.661Z,1628857185.661 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:19:50.871Z,1628857190.871 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:19:55.720Z,1628857195.720 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:20:00.983Z,1628857200.983 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-13T12:20:32.560Z,1628857232.560 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-13T12:20:33.222Z,1628857233.222 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:34.226Z,1628857234.226 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:35.230Z,1628857235.230 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:36.234Z,1628857236.234 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:37.238Z,1628857237.238 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:38.242Z,1628857238.242 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:39.246Z,1628857239.246 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:40.250Z,1628857240.250 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:40.979Z,1628857240.979 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-13T12:20:41.254Z,1628857241.254 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:42.258Z,1628857242.258 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:43.262Z,1628857243.262 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-13T12:20:43.479Z,1628857243.479 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006522
CHAN A1 (24V): -0.023556
CHAN A2 (12V): -0.005582
CHAN A3 (5V): -0.001559
CHAN B0 (3.3V): 0.000369
CHAN B1 (3.15aV): 0.000263
CHAN B2 (3.15bV): 0.000460
CHAN B3 (GND): 0.001874
OPEN: 0.006857
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-13T12:20:45.818Z,1628857245.818 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:21:35.971Z,1628857295.971 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:21:40.779Z,1628857300.779 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:23:33.971Z,1628857413.971 [CTD_Seabird](ERROR): Failed to parse device response: 5.00,23.805.30
2021-08-13T12:23:56.909Z,1628857436.909 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-13T12:25:26.207Z,1628857526.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:25:36.297Z,1628857536.297 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-13T12:25:46.022Z,1628857546.022 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-13T12:25:56.098Z,1628857556.098 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-13T12:26:06.193Z,1628857566.193 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T12:26:38.142Z,1628857598.142 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-13T12:27:43.201Z,1628857663.201 [profile_station:NeedComms] Running Loop=1
2021-08-13T12:27:43.201Z,1628857663.201 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2021-08-13T12:27:43.201Z,1628857663.201 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2021-08-13T12:27:43.201Z,1628857663.201 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T12:27:43.202Z,1628857663.202 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-13T12:27:43.202Z,1628857663.202 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-13T12:27:43.203Z,1628857663.203 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-13T12:27:43.203Z,1628857663.203 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T12:27:43.203Z,1628857663.203 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T12:27:43.208Z,1628857663.208 [profile_station:NeedComms:A] Running Loop=1
2021-08-13T12:27:43.210Z,1628857663.210 [profile_station:NeedComms:A](INFO): last time_fix was: 1628846852.000000 second since 1970/01/01T00:00:00Z 
2021-08-13T12:27:43.210Z,1628857663.210 [profile_station:NeedComms:A] Stopped
2021-08-13T12:28:02.945Z,1628857682.945 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-13T12:28:24.034Z,1628857704.034 [profile_station:NeedComms:C] Running Loop=1
2021-08-13T12:28:24.632Z,1628857704.632 [Radio_Surface](INFO): Powering up
2021-08-13T12:28:30.412Z,1628857710.412 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-13T12:28:39.737Z,1628857719.737 [NAL9602](IMPORTANT): SBD MO Status=0, MOMSN=23651, MT Status=1, MTMSN=832
2021-08-13T12:28:39.738Z,1628857719.737 [NAL9602](INFO): Data available in MT queue
2021-08-13T12:28:40.221Z,1628857720.221 [NAL9602](INFO): Received command:stop
2021-08-13T12:28:40.253Z,1628857720.253 [CommandLine](IMPORTANT): got command stop
2021-08-13T12:28:40.253Z,1628857720.253 [CommandLine](IMPORTANT): Scheduling is paused
2021-08-13T12:28:40.253Z,1628857720.253 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-08-13T12:28:40.289Z,1628857720.289 [MissionManager](INFO): MissionManager is completed.
2021-08-13T12:28:40.290Z,1628857720.290 [MissionManager](INFO): Uninitializing Mission profile_station
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station] Stopped
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station](DEBUG): Aggregate::uninitialize profile_station
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science] Stopped
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science](DEBUG): Aggregate::uninitialize profile_station:Science
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science:B] Stopped
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science:C] Stopped
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science:E] Stopped
2021-08-13T12:28:40.290Z,1628857720.290 [profile_station:Science:Read_Oil] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:OceanCurrent] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station:Science:OceanCurrent
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:OceanCurrent:A.] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:PeakDetectChl] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectChl
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:NeedComms] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:NeedComms:B.GoToSurface] Stopped
2021-08-13T12:28:40.291Z,1628857720.291 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:NeedComms:C] Stopped
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes] Stopped
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station:StandardEnvelopes
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T12:28:40.296Z,1628857720.296 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:I.Pitch] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:J.Buoyancy] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:K.SetSpeed] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:K.SetSpeed](DEBUG): Uninitialize.
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:L.DepthEnvelope] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:L.DepthEnvelope](DEBUG): Uninitialize.
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:M.AltitudeEnvelope] Stopped
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:M.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-13T12:28:40.297Z,1628857720.297 [profile_station:N.YoYo] Stopped
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:N.YoYo](DEBUG): Uninitialize YoYoComponent.
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:CircleWrapper] Stopped
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:CircleWrapper:A] Stopped
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:CircleWrapper:B.Circle] Stopped
2021-08-13T12:28:40.298Z,1628857720.298 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2021-08-13T12:28:40.544Z,1628857720.544 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T12:28:40.565Z,1628857720.565 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-13T12:28:40.565Z,1628857720.565 [DefaultWithUndock] Running Loop=1
2021-08-13T12:28:40.565Z,1628857720.565 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-13T12:28:40.565Z,1628857720.565 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-13T12:28:40.566Z,1628857720.566 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-13T12:28:40.949Z,1628857720.949 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Software Overcurrent.
2021-08-13T12:28:40.949Z,1628857720.949 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2021-08-13T12:28:40.949Z,1628857720.949 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2021-08-13T12:28:41.100Z,1628857721.100 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2021-08-13T12:28:41.416Z,1628857721.416 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2021-08-13T12:28:41.416Z,1628857721.416 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2021-08-13T12:28:41.765Z,1628857721.765 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-13T12:28:43.660Z,1628857723.660 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-13T12:29:00.540Z,1628857740.540 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T12:29:10.834Z,1628857750.834 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T12:29:10.857Z,1628857750.857 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-13T12:29:10.857Z,1628857750.857 [DefaultWithUndock:A.Wait] Stopped
2021-08-13T12:29:10.857Z,1628857750.857 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-13T12:29:10.858Z,1628857750.858 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-13T12:29:10.858Z,1628857750.858 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-13T12:29:10.888Z,1628857750.888 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-13T12:29:10.888Z,1628857750.888 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-13T12:29:10.888Z,1628857750.888 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-13T12:29:10.888Z,1628857750.888 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-13T12:29:10.888Z,1628857750.888 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-13T12:29:11.643Z,1628857751.643 [PowerOnly](INFO): Powering up loadControl
2021-08-13T12:29:12.496Z,1628857752.496 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:34202.871094
2021-08-13T12:29:13.724Z,1628857753.724 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T12:29:14.121Z,1628857754.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T12:29:14.121Z,1628857754.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T12:29:14.121Z,1628857754.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T12:29:14.122Z,1628857754.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T12:29:14.191Z,1628857754.191 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-13T12:29:14.517Z,1628857754.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,B2,FF
2021-08-13T12:29:14.517Z,1628857754.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T12:29:14.517Z,1628857754.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T12:29:14.520Z,1628857754.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T12:29:14.621Z,1628857754.621 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-13T12:29:14.915Z,1628857754.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T12:29:15.729Z,1628857755.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3A,000,013F8,189,80,80,72,FF
2021-08-13T12:29:15.730Z,1628857755.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T12:29:15.752Z,1628857755.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122916.05*54

2021-08-13T12:29:18.553Z,1628857758.553 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T12:29:18.953Z,1628857758.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T12:29:18.953Z,1628857758.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T12:29:18.954Z,1628857758.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T12:29:18.954Z,1628857758.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T12:29:19.349Z,1628857759.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3A,000,013F8,189,80,80,72,FF
2021-08-13T12:29:19.350Z,1628857759.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T12:29:19.350Z,1628857759.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T12:29:19.352Z,1628857759.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T12:29:19.761Z,1628857759.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T12:29:20.573Z,1628857760.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,013EE,18A,80,80,1C,FF
2021-08-13T12:29:20.574Z,1628857760.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T12:29:20.600Z,1628857760.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122920.88*54

2021-08-13T12:29:23.420Z,1628857763.420 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T12:29:23.793Z,1628857763.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T12:29:23.793Z,1628857763.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T12:29:23.793Z,1628857763.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T12:29:23.794Z,1628857763.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T12:29:24.197Z,1628857764.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,013EE,18A,80,80,1C,FF
2021-08-13T12:29:24.197Z,1628857764.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T12:29:24.197Z,1628857764.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T12:29:24.199Z,1628857764.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T12:29:24.605Z,1628857764.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T12:29:25.429Z,1628857765.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFF,000,013F8,18A,80,80,77,FF
2021-08-13T12:29:25.429Z,1628857765.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T12:29:25.432Z,1628857765.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122925.72*54

2021-08-13T12:29:28.283Z,1628857768.283 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T12:29:28.641Z,1628857768.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T12:29:28.641Z,1628857768.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T12:29:28.641Z,1628857768.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T12:29:28.642Z,1628857768.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T12:29:29.049Z,1628857769.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFF,000,013F8,18A,80,80,77,FF
2021-08-13T12:29:29.050Z,1628857769.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T12:29:29.050Z,1628857769.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T12:29:29.051Z,1628857769.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T12:29:29.453Z,1628857769.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T12:29:30.285Z,1628857770.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D08,000,013E7,189,80,80,7E,FF
2021-08-13T12:29:30.285Z,1628857770.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T12:29:30.288Z,1628857770.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122930.58*58

2021-08-13T12:29:33.097Z,1628857773.097 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-13T12:29:33.490Z,1628857773.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-13T12:29:33.490Z,1628857773.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-13T12:29:33.490Z,1628857773.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-13T12:29:33.491Z,1628857773.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-13T12:29:33.908Z,1628857773.908 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D08,000,013E7,189,80,80,7E,FF
2021-08-13T12:29:33.908Z,1628857773.908 [DUSBL_Hydroid](INFO): Command Ack
2021-08-13T12:29:33.909Z,1628857773.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-13T12:29:33.915Z,1628857773.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-13T12:29:34.301Z,1628857774.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-13T12:29:34.727Z,1628857774.727 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 268.20 m. Transitioning DDM to standby.
2021-08-13T12:29:35.118Z,1628857775.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,013DF,186,80,80,4D,FF
2021-08-13T12:29:35.118Z,1628857775.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-13T12:29:35.122Z,1628857775.122 [Micromodem](INFO): Nmea in: $SNTTA,0.180429,,,,122935.44*48

2021-08-13T12:29:35.692Z,1628857775.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T12:29:37.193Z,1628857777.193 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-13T12:29:37.567Z,1628857777.567 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-13T12:29:37.567Z,1628857777.567 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-13T12:29:37.568Z,1628857777.568 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-13T12:29:37.568Z,1628857777.568 [DefaultWithUndock:LeaveDock] Stopped
2021-08-13T12:29:37.568Z,1628857777.568 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-13T12:29:37.568Z,1628857777.568 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-13T12:29:37.569Z,1628857777.569 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-13T12:29:37.570Z,1628857777.570 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-13T12:29:37.570Z,1628857777.570 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-13T12:29:37.570Z,1628857777.570 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-13T12:29:37.571Z,1628857777.571 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-13T12:29:37.571Z,1628857777.571 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-13T12:29:37.979Z,1628857777.979 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-13T12:29:37.980Z,1628857777.980 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-13T12:29:56.085Z,1628857796.085 [NAL9602](INFO): SBD MO Status=0, MOMSN=23652, MT Status=0, MTMSN=0
2021-08-13T12:29:56.085Z,1628857796.085 [NAL9602](INFO): No messages in MT queue
2021-08-13T12:30:10.832Z,1628857810.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T12:30:21.196Z,1628857821.196 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123020.00,A,4133.04999,N,07042.36368,W,0.894,0.00,130821,,,A*73
2021-08-13T12:30:21.204Z,1628857821.204 [NAL9602](INFO): GPS fix at 20210813T123020: (41.550833, -70.706061)
2021-08-13T12:30:21.247Z,1628857821.247 [UniversalFixResidualReporter](INFO): Fix residual: 2.1 %DT, over the last 7338.1 m. Residual distance 156.0 m at bearing 64.9 degrees. Fix at (41.5508, -70.7061) with 454.3 m made good.
2021-08-13T12:30:21.252Z,1628857821.252 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-13T12:30:21.253Z,1628857821.253 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-13T12:30:41.035Z,1628857841.035 [NAL9602](INFO): SBD MO Status=1, MOMSN=23653, MT Status=0, MTMSN=0
2021-08-13T12:30:41.085Z,1628857841.085 [NAL9602](INFO): Sent 90 bytes from file Logs/20210812T232438/Courier0090.lzma
2021-08-13T12:30:41.085Z,1628857841.085 [NAL9602](INFO): Packets left to send: 0
2021-08-13T12:30:44.359Z,1628857844.359 [PowerOnly](INFO): Powering down loadControl
2021-08-13T12:30:45.978Z,1628857845.978 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T12:30:49.165Z,1628857849.165 [NAL9602](INFO): SBD MO Status=1, MOMSN=23654, MT Status=0, MTMSN=0
2021-08-13T12:30:49.224Z,1628857849.224 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:30:49.224Z,1628857849.224 [NAL9602](INFO): Packets left to send: 11
2021-08-13T12:30:58.197Z,1628857858.197 [NAL9602](INFO): SBD MO Status=1, MOMSN=23655, MT Status=0, MTMSN=0
2021-08-13T12:30:58.248Z,1628857858.248 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:30:58.248Z,1628857858.248 [NAL9602](INFO): Packets left to send: 10
2021-08-13T12:31:07.213Z,1628857867.213 [NAL9602](INFO): SBD MO Status=1, MOMSN=23656, MT Status=0, MTMSN=0
2021-08-13T12:31:07.260Z,1628857867.260 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:31:07.260Z,1628857867.260 [NAL9602](INFO): Packets left to send: 9
2021-08-13T12:31:15.834Z,1628857875.834 [NAL9602](INFO): SBD MO Status=1, MOMSN=23657, MT Status=0, MTMSN=0
2021-08-13T12:31:15.896Z,1628857875.896 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:31:15.896Z,1628857875.896 [NAL9602](INFO): Packets left to send: 8
2021-08-13T12:31:21.132Z,1628857881.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-13T12:31:24.444Z,1628857884.444 [NAL9602](INFO): SBD MO Status=1, MOMSN=23658, MT Status=0, MTMSN=0
2021-08-13T12:31:24.508Z,1628857884.508 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:31:24.508Z,1628857884.508 [NAL9602](INFO): Packets left to send: 7
2021-08-13T12:31:35.850Z,1628857895.850 [NAL9602](INFO): SBD MO Status=1, MOMSN=23659, MT Status=0, MTMSN=0
2021-08-13T12:31:35.913Z,1628857895.913 [NAL9602](INFO): Sent 184 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:31:35.914Z,1628857895.914 [NAL9602](INFO): Packets left to send: 6
2021-08-13T12:31:51.257Z,1628857911.257 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003239
2021-08-13T12:31:55.277Z,1628857915.277 [DataOverHttps](INFO): Sending 2186 bytes from file Logs/20210812T232438/Express0091.lzma
2021-08-13T12:31:56.274Z,1628857916.274 [DataOverHttps](INFO): Moved sent file to Logs/20210812T232438/Express0091.lzma.bak
2021-08-13T12:31:56.274Z,1628857916.274 [DataOverHttps](INFO): SBD MOMSN=431309
2021-08-13T12:31:57.855Z,1628857917.855 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-13T12:31:57.856Z,1628857917.856 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-13T12:31:57.856Z,1628857917.856 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-13T12:31:58.236Z,1628857918.236 [NAL9602](INFO): SBD MO Status=2, MOMSN=23660, MT Status=2, MTMSN=0
2021-08-13T12:31:58.236Z,1628857918.236 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-13T12:32:28.948Z,1628857948.948 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-13T12:32:37.437Z,1628857957.437 [DataOverHttps](IMPORTANT): SBD MTMSN=20210813T123236